CN106467057B - The method, apparatus and system of lane departure warning - Google Patents
The method, apparatus and system of lane departure warning Download PDFInfo
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- CN106467057B CN106467057B CN201510519943.XA CN201510519943A CN106467057B CN 106467057 B CN106467057 B CN 106467057B CN 201510519943 A CN201510519943 A CN 201510519943A CN 106467057 B CN106467057 B CN 106467057B
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Abstract
The invention discloses a kind of method, apparatus of lane departure warning and system, the method for the lane departure warning is the following steps are included: obtain the turn signal state of the facial image of the driver of the backsight acquisition unit acquisition of vehicle, the deviation image of forward sight acquisition unit acquisition and the acquisition of turn signal signal acquisition unit；When the turn signal for detecting the automotive run-off-road and the vehicle is not opened, lane change early warning is carried out according to the direction of the facial image and the automotive run-off-road.The present invention can be improved the accuracy rate of vehicle lane change early warning, reduce safety accident odds.
Description
Technical field
The present invention relates to the method, apparatus of vehicle drive security technology area more particularly to a kind of lane departure warning and
System.
Background technique
Lane Departure Warning System be it is a kind of assisted by way of alarm driver reduce automobile sent out because of deviation
The system of raw traffic accident.Current Lane Departure Warning System is made of picture processing chip, controller, sensor etc..When
When deviation system is opened, the camera of the side or front that are mounted on vehicle can acquire the image of traveling lane the moment, right
Acquired image carries out image procossing and obtains location parameter of the vehicle in current lane, when detecting automotive run-off-road
When, the data such as the running speed of sensor sensing to vehicle and turn signal state, when speed is larger and turn signal is not opened, by
Controller issues alarm signal, and whole process was about completed at 0.5 second, provides more reaction time for driver.And if
Turn signal is opened, and is normally carried out modified line traveling, then Lane Departure Warning System will not do any prompt.
But vehicle is in the process of moving, and when surrounding vehicles are less, vehicle lane change is very safe, and driver may not open
Turn signal is opened, and Lane Departure Warning System is alarmed, and false alarm occurs；Or some driver habits are travelled close to sideline
Or short time crimping traveling, at this moment turn signal will not be opened, and Lane Departure Warning System is still alarmed, and report by mistake
It is alert；Or when turn signal be it is breech-loading, sensor can not obtain the switch state of turn signal, and Lane Departure Warning System also holds
Easily there is false alarm；Accuracy rate of alarming is not high.
Summary of the invention
The main purpose of the present invention is to provide a kind of method, apparatus of lane departure warning and systems, it is intended to solve existing
The not high technical problem of the accuracy rate of some Lane Departure Warning Systems early warning in vehicle lane change.
To achieve the above object, the present invention provides a kind of method of lane departure warning, the side of the lane departure warning
Method the following steps are included:
Facial image, the lane of forward sight acquisition unit acquisition for obtaining the driver of the backsight acquisition unit acquisition of vehicle are inclined
The turn signal state acquired from image and turn signal signal acquisition unit；
When the turn signal for detecting the automotive run-off-road and the vehicle is not opened, according to the facial image and
The direction of the automotive run-off-road carries out lane change early warning.
The method, apparatus and system of lane departure warning of the present invention dispose backsight acquisition unit in vehicle
The facial image for acquiring driver, when the turn signal for detecting automotive run-off-road and the vehicle is not opened, according to steering
Lamp switch to determine whether driver has the intention of subjective lane change to be inaccurate, at this time by the facial image to driver into
Row analysis obtains the subjective of driver and deviates intention and physical condition etc., and combines the direction integrated decision-making of automotive run-off-road,
Lane change early warning is carried out, can be improved the accuracy rate of vehicle lane change early warning, reduces safety accident odds.
Detailed description of the invention
Fig. 1 is the flow diagram of the method first embodiment of lane departure warning of the present invention；
Fig. 2 is the step of carrying out lane change early warning according to the direction of the facial image and the automotive run-off-road in Fig. 1
Refinement flow diagram；
Fig. 3 is the subjective step for deviateing intention and physical condition for obtaining the driver in Fig. 2 according to the facial image
Rapid refinement flow diagram；
Fig. 4 is the flow diagram of the method second embodiment of lane departure warning of the present invention；
Fig. 5 is the functional block diagram of the device first embodiment of lane departure warning of the present invention；
Fig. 6 is the refinement the functional block diagram of warning module in Fig. 5；
Fig. 7 is the refinement the functional block diagram of acquiring unit in Fig. 6；
Fig. 8 is the functional block diagram of the device second embodiment of lane departure warning of the present invention；
Fig. 9 is the functional block diagram of one embodiment of system of lane departure warning of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides a kind of method of lane departure warning, referring to Fig.1, in one embodiment, the lane departure warning
Method include:
Step S101, facial image, the forward sight acquisition unit for obtaining the driver of the backsight acquisition unit acquisition of vehicle are adopted
The turn signal state of deviation image and turn signal the signal acquisition unit acquisition of collection；
In the present embodiment, backsight acquisition unit is installed in the vehicle, and direction backwards, can be with face driver or tiltedly to driving
The person of sailing, so as to the facial image of driver is collected, when Lane Departure Warning System in the present embodiment is opened, backsight
Acquisition unit starts to acquire the facial image of driver.Facial image is for example able to reflect subjective deviation meaning when driver drives
Figure and physical condition etc..
Wherein, backsight acquisition unit can be the device that industrial camera, camera lens or image pick-up card etc. have camera.
In the present embodiment, forward sight acquisition unit can be installed in the side of vehicle or front, which tiltedly refers to
To lane.Forward sight acquisition unit acquires lane slip chart picture in real time, by analyzing the deviation image, can know
The variation of road ahead or environment.
Wherein, forward sight acquisition unit is also possible to the dress that industrial camera, camera lens or image pick-up card etc. have camera
It sets.
In the present embodiment, turn signal signal acquisition unit can be on-board automatic diagnosis system (On Board
Diagnostics, OBD).
Step S102, when the turn signal for detecting the automotive run-off-road and the vehicle is not opened, according to described
The direction of facial image and the automotive run-off-road carries out lane change early warning.
In the present embodiment, after obtaining deviation image, can directly it be handled on deviation image, it can also
Handled on reasonable top view being generated by IPM, to extract lane line parameter.First to deviation image into
Row pretreatment, Threshold segmentation and edge enhancing, then extract a left side using Hough Hough transform or the method for other extraction straight lines
Right-lane line parameter finally chooses suitable lane departure warning model, such as TLC or other methods according to actual needs, comes
Determine the deviation state of vehicle.Wherein, the direction of the deviation state of the vehicle of the present embodiment or run-off-road includes normally, to the left
Deviate, left survey crimping, be deviated to the right, right side crimping totally 5 kinds of states.
In the present embodiment, if deviation and turn signal unlatching occur for vehicle lane, it is believed that driver is subjective
Vehicle lane change is needed, and thinks that driver is in awake state, as long as driver focuses on generally causing danger
Situation does not need to alarm at this time.
If vehicle lane occurs to deviate and turn signal is not opened, it can not judge that driver is subjective and whether need vehicle
Lane change is carried out, and can not determine whether driver is in waking state, at this time, it may be necessary to the driving acquired according to backsight acquisition unit
The facial image of member is judged, such as may determine that it is by the eye motion and mouth action of driver on facial image
It is no it is in a state of fatigue, according to the posture on its head judge its it is whether subjective need vehicle carry out lane change.
It is understood that vehicle is in fast speed when in traveling, when vehicle lane generation deviation and turn signal is not opened
Qi Shi needs quickly to carry out judging whether driver is that vehicle is needed to carry out lane change in the state of awake, therefore, forward sight acquisition
Unit and backsight acquisition unit can enter working condition simultaneously, obtain corresponding deviation image and driving in real time respectively
The facial image of member.
In the present embodiment, the control that lane change early warning is refined can be handled, when vehicle deviates to the left or to the right, only
Open instruction lamp is reminded, and very big interference will not be caused to driver by opening warning light prompt；When leftward or rightward crimping
When driving, the color of change instruction lamp and flashing is reminded, meanwhile, in the case where turn signal is not opened, by face figure
The analysis of picture, if the subjective intention for having lane change of driver, such as to the right crimping when driving driver to the right yaw or to
Right crimping travels in first 2 seconds driver's yaw to the right, it is believed that driver just concentrates one's energy to drive, and does not need to carry out sound again pre-
It is alert, if the intention of the subjective not lane change of driver, such as crimping would be driven in crimping traveling first 2 seconds when driving or to the right to the right
When the person of sailing is without yaw to the right, its physical condition is further judged by facial image, do not needed under non-fatigue state yet into
Row sound early warning, but if it is in fatigue driving state, need to be simultaneously emitted by alarm sound, have to driver relatively strong
Reminding effect, in addition it can combine take other stronger alerting pattern, such as direction of vibration disk etc..The present embodiment
Very big using interference of the strong alerting pattern to driver when considering if there is false alarm, therefore, synthesis is various possible
After factor, is only travelled in the above-mentioned leftward or rightward crimping of vehicle and turn signal is not opened, driver does not have the intention of lane change
And audible alarm is just carried out when under fatigue driving state, the interference to driver is reduced to the maximum extent, while above-mentioned
Alarm mode reduces rate of false alarm.
Compared with prior art, the present embodiment disposes backsight acquisition unit in vehicle to acquire the face figure of driver
Picture determines to drive according to the switch of turn signal when the turn signal for detecting automotive run-off-road and the vehicle is not opened
Whether member has the intention of subjective lane change to be inaccurate, and is analyzed to obtain driver's by the facial image to driver at this time
Subjectivity deviates intention and physical condition etc., and combines the direction integrated decision-making of automotive run-off-road, carries out lane change early warning, Neng Gouti
The accuracy rate of high vehicle lane change early warning reduces safety accident odds.
In a preferred embodiment, as shown in Fig. 2, on the basis of the embodiment of above-mentioned Fig. 1, above-mentioned steps S102 packet
It includes:
Step S1021, when the turn signal for detecting automotive run-off-road and the vehicle is not opened, according to the face
Image obtains the subjective of the driver and deviates intention and physical condition；
Step S1022 judges whether the subjective intention that deviates is consistent with the direction of the automotive run-off-road, if so,
S1025 is then entered step, S1023 is otherwise entered step；
Step S1023 judges whether the physical condition of the driver is fatigue, if so, S1024 is entered step, it is no
Then enter step S1025；
Step S1024, at least progress audible alarm；
Step S1025, without audible alarm.
It is available to deviate intention and body to the subjective of driver by analyzing facial image in the present embodiment
Body state, subjectivity, which deviates, to be intended to include doubling to the left, doubling to the right, normally totally three kinds, is obtained by the analysis to facial image
Deviate to subjectivity and be intended to, such as can know that subjective deviation is intended to by be flapped toward (i.e. the head pose) of driver head, or
By the direction of eye gaze know it is subjective deviate be intended to, or combine driver head be flapped toward and the direction of eye gaze is obtained
Know that subjective deviation is intended to, it is preferable that know that subjective deviation is intended to by being flapped toward for driver head.Physical condition includes awake
(i.e. non-fatigue) and totally two kinds of fatigue can also be divided into awake, medium fatigue, totally three kinds of major fatigue according to actual needs, lead to
It crosses and physical condition is got to the analysis of facial image, for example, the closure degree duration by eye knows body
State perhaps knows physical condition perhaps by the variation of mouth or combination eye, head and mouth by the elevation angle on head
Know physical condition etc. at least two parts in portion, it is preferable that body known by the closure degree duration of eye
Body state.
When subjectivity, which deviates, is intended to consistent with the direction of automotive run-off-road, refer to: subjectivity, which deviates, to be intended to the left simultaneously
When line, then vehicle is deviated to the left or left survey crimping；When subjectivity deviation is intended to doubling to the right, then vehicle is deviated to the right or right survey is pressed
Line.Subjectivity, which deviates, to be intended to the inconsistent scene in the direction of automotive run-off-road be the scene in addition to above-mentioned consistent scene.When
When subjectivity deviates intention and the inconsistent direction of automotive run-off-road, judge whether the physical condition of driver is tired.
The present embodiment is driven when the turn signal for detecting automotive run-off-road and vehicle is not opened by facial image acquisition
The subjective of the person of sailing deviates intention and physical condition, and when subjectivity deviation is intended to consistent with the direction of automotive run-off-road, explanation is driven
The person of sailing just concentrates one's energy to drive, and does not need to carry out sound early warning, to prevent from interfering with driver；Deviate intention and vehicle in subjectivity
When the direction of run-off-road is inconsistent, need to judge the physical condition of driver, it, can also if driver is in non-fatigue state
To illustrate that driver just concentrates one's energy to drive, do not need to carry out sound early warning, to prevent from interfering with driver, if at driver
In fatigue state, then at least need to carry out sound early warning, and carry out early warning in combination with the mode such as indicator light and steering wheel vibration,
To play strong suggesting effect to driver, the accuracy rate of alarm can be improved in this way.
In the present embodiment, for example, when surrounding vehicles are less or without vehicle in the case where carry out lane change when, if driver does not open
Turn signal is opened, in the case where showing to want the intention of lane change on body posture, not will do it alarm, but do not have on body posture
In the case where having the intention for showing to want lane change, in the state of detecting that driver is in awake, it will not alarm,
And it will do it audible alarm in driver fatigue；Or driver habit is travelled close to sideline or short time crimping travels but turns
It is not opened to lamp, the intention for wanting lane change is not shown on body posture, but due to detecting that driver is in awake shape
It under state, will not alarm, and will do it audible alarm in driver fatigue；Or when turn signal be it is breech-loading, this
When do not determine whether to alarm further according to the switch state of turn signal, but according to the direction of automotive run-off-road, the master of driver
It sees to deviate and be intended to and physical condition integrated decision-making, carry out lane change early warning, improve the accuracy rate of early warning, and be reduced as far as to driving
The interference for the person of sailing.
In a preferred embodiment, as shown in figure 3, on the basis of the embodiment of above-mentioned Fig. 2, above-mentioned steps S1021
Include:
Step S10211 extracts human eye feature point and face feature point according to the facial image；
Step S10212 obtains the physical condition according to the human eye feature point, is obtained according to the face feature point
The subjective deviation is intended to.
In the present embodiment, after collecting facial image, human eye feature point and face feature point are extracted, wherein human eye is special
Sign point preferably includes the characteristic point at canthus and highest point and the minimum point of upper lower eyelid, and face feature point is more, such as can
To include the characteristic point etc. of head several organs therein, excessive restriction is not done herein.
The present embodiment preferably obtains physical condition according to human eye feature point, and the multiple of human eye are extracted first from facial image
Characteristic point is opened or is closed using the method identification eye state of pattern classification, and the degree of closure.Then by system
Meter analysis, can generally judge whether driver is tired by PERCLOS method.Furthermore it is also possible to further combined with blink
Frequency, mouth variation, head the indexs such as state come whether comprehensive assessment driver tired, and the degree of fatigue.
The present embodiment extracts human eye feature point and face feature point according to facial image, obtains body by human eye feature point
State and by face feature point obtain it is subjective deviate be intended to, and become in conjunction with the direction integrated decision-making of automotive run-off-road
The mode of road early warning can be improved the accuracy of vehicle lane change early warning.
The present embodiment preferably obtains subjective deviation according to face feature point and is intended to, comprising: is driven according to face feature point acquisition
The person of the sailing elevation angle mean value on head and the deflection mean value on head within a preset time；When elevation angle mean value is greater than predetermined angle threshold value
When, judge whether deflection mean value is greater than preset amount of yaw, and judge that the duration for being greater than preset amount of yaw is
It is no to be less than preset effective time；If the result of judgement is to be, subjective deviation is obtained according to deflection mean value and is intended to.
In the present embodiment, the deflection mean value on the elevation angle mean value on head and head can be used to judge driver be visually before
Side, or see to the left or to the right.When elevation angle mean value i.e. on head is greater than predetermined angle threshold value, it is believed that face front, so
Judge whether deflection mean value is greater than preset amount of yaw again afterwards, that is, judges whether driver sees to the left or to the right, it is last true
Determine driver and be intended to doubling to be to the left also intended to doubling to the right.
The present embodiment is as follows according to the principle that face feature point obtains subjective deviation intention: first in state of motion of vehicle
Under, the head elevation angle mean value and deflection mean value of (such as 1 minute) driver were counted in a period of time, and then, setting is reasonable
Predetermined angle threshold value and amount of yaw；Judge whether driver bows according to predetermined angle threshold value and head elevation angle mean value first,
Judge that it is not bowed when i.e. head elevation angle mean value is greater than predetermined angle threshold value, for the state for facing front, it is believed that at driver
In waking state, judge whether leftward or rightward yaw further according to deflection mean value, after obtaining head pose, i.e., if it is
When leftward or rightward yaw, then immediate record time stamp T 0, restores normal condition on head, then records current time stamp T, effectively
Time, TX was preferably set to 2s, represent the effective time of head pose, if T-T0 < TX, driver is in effective time TX
It is interior to left swing head, then represent that driver is subjective to think doubling to the left；The yaw to the right in effective time TX, then represent driver master
Doubling to the right is thought in sight.
In a preferred embodiment, as shown in figure 4, on the basis of the embodiment of above-mentioned Fig. 1, in above-mentioned steps S101
Before further include:
Step S100, when the speed of the vehicle is greater than pre-set velocity threshold value, the forward sight acquisition for obtaining the vehicle is single
Member acquisition deviation image, according to vehicle described in the deviation image detection whether run-off-road.
In the present embodiment, in the driving process of vehicle, the current speed of vehicle can be obtained by velocity sensor, is sentenced
Whether the speed of breaking is greater than pre-set velocity threshold value, if being not more than the pre-set velocity threshold value, it is believed that the current traveling of vehicle
Speed is smaller, not will cause safety accident generally, can be without early warning.When speed is greater than pre-set velocity threshold value, in order to most
Prevent safety accident to big speed limit, needs to open the Lane Departure Warning System in the present embodiment, to pass through deviation
The case where early warning system causes danger to the possibility caused due to vehicle lane change carries out early warning, to remind driver.Certainly, when
When speed is not more than pre-set velocity threshold value, Lane Departure Warning System can be closed.
The present embodiment acquires lane slip chart picture by the forward sight acquisition unit of the side or front that are mounted on vehicle, passes through
Analysis to the deviation image of acquisition, it can be determined that vehicle whether run-off-road.
The present invention also provides a kind of devices of lane departure warning, as shown in figure 5, in one embodiment, the deviation
The device of early warning includes:
Module 101 is obtained, the facial image for the driver that the backsight acquisition unit for obtaining vehicle acquires, forward sight acquisition
The deviation image of unit acquisition and the turn signal state of turn signal signal acquisition unit acquisition；
In the present embodiment, backsight acquisition unit is installed in the vehicle, and direction backwards, can be with face driver or tiltedly to driving
The person of sailing, so as to the facial image of driver is collected, when Lane Departure Warning System in the present embodiment is opened, backsight
Acquisition unit starts to acquire the facial image of driver.Facial image is for example able to reflect subjective deviation meaning when driver drives
Figure and physical condition etc..
Wherein, backsight acquisition unit can be the device that industrial camera, camera lens or image pick-up card etc. have camera.
In the present embodiment, forward sight acquisition unit can be installed in the side of vehicle or front, which tiltedly refers to
To lane.Forward sight acquisition unit acquires lane slip chart picture in real time, by analyzing the deviation image, can know
The variation of road ahead or environment.
Wherein, forward sight acquisition unit is also possible to the dress that industrial camera, camera lens or image pick-up card etc. have camera
It sets.
In the present embodiment, turn signal signal acquisition unit can be on-board automatic diagnosis system (On Board
Diagnostics, OBD).
Warning module 102, when the turn signal for detecting the automotive run-off-road and the vehicle is not opened, according to institute
The direction for stating facial image and the automotive run-off-road carries out lane change early warning.
In the present embodiment, after obtaining deviation image, can directly it be handled on deviation image, it can also
Handled on reasonable top view being generated by IPM, to extract lane line parameter.First to deviation image into
Row pretreatment, Threshold segmentation and edge enhancing, then extract a left side using Hough Hough transform or the method for other extraction straight lines
Right-lane line parameter finally chooses suitable lane departure warning model, such as TLC or other methods according to actual needs, comes
Determine the deviation state of vehicle.Wherein, the direction of the deviation state of the vehicle of the present embodiment or run-off-road includes normally, to the left
Deviate, left survey crimping, be deviated to the right, right side crimping totally 5 kinds of states.
In the present embodiment, if deviation and turn signal unlatching occur for vehicle lane, it is believed that driver is subjective
Vehicle lane change is needed, and thinks that driver is in awake state, as long as driver focuses on generally causing danger
Situation does not need to alarm at this time.
If vehicle lane occurs to deviate and turn signal is not opened, it can not judge that driver is subjective and whether need vehicle
Lane change is carried out, and can not determine whether driver is in waking state, at this time, it may be necessary to the driving acquired according to backsight acquisition unit
The facial image of member is judged, such as may determine that it is by the eye motion and mouth action of driver on facial image
It is no it is in a state of fatigue, according to the posture on its head judge its it is whether subjective need vehicle carry out lane change.
It is understood that vehicle is in fast speed when in traveling, when vehicle lane generation deviation and turn signal is not opened
Qi Shi needs quickly to carry out judging whether driver is that vehicle is needed to carry out lane change in the state of awake, therefore, forward sight acquisition
Unit and backsight acquisition unit can enter working condition simultaneously, obtain corresponding deviation image and driving in real time respectively
The facial image of member.
In the present embodiment, the control that lane change early warning is refined can be handled, when vehicle deviates to the left or to the right, only
Open instruction lamp is reminded, and very big interference will not be caused to driver by opening warning light prompt；When leftward or rightward crimping
When driving, the color of change instruction lamp and flashing is reminded, meanwhile, in the case where turn signal is not opened, by face figure
The analysis of picture, if the subjective intention for having lane change of driver, such as to the right crimping when driving driver to the right yaw or to
Right crimping travels in first 2 seconds driver's yaw to the right, it is believed that driver just concentrates one's energy to drive, and does not need to carry out sound again pre-
It is alert, if the intention of the subjective not lane change of driver, such as crimping would be driven in crimping traveling first 2 seconds when driving or to the right to the right
When the person of sailing is without yaw to the right, its physical condition is further judged by facial image, do not needed under non-fatigue state yet into
Row sound early warning, but if it is in fatigue driving state, need to be simultaneously emitted by alarm sound, have to driver relatively strong
Reminding effect, in addition it can combine take other stronger alerting pattern, such as direction of vibration disk etc..The present embodiment
Very big using interference of the strong alerting pattern to driver when considering if there is false alarm, therefore, synthesis is various possible
After factor, is only travelled in the above-mentioned leftward or rightward crimping of vehicle and turn signal is not opened, driver does not have the intention of lane change
And audible alarm is just carried out when under fatigue driving state, the interference to driver is reduced to the maximum extent, is reduced simultaneously
Rate of false alarm.
Compared with prior art, the present embodiment disposes backsight acquisition unit in vehicle to acquire the face figure of driver
Picture determines to drive according to the switch of turn signal when the turn signal for detecting automotive run-off-road and the vehicle is not opened
Whether member has the intention of subjective lane change to be inaccurate, and is analyzed to obtain driver's by the facial image to driver at this time
Subjectivity, which deviates, to be intended to and physical condition etc., then and is combined the direction integrated decision-making of automotive run-off-road, is carried out lane change early warning, energy
The accuracy rate for enough improving vehicle lane change early warning, reduces safety accident odds.
In a preferred embodiment, as shown in fig. 6, on the basis of the embodiment of above-mentioned Fig. 5, judgment module 102 is wrapped
It includes:
Acquiring unit 1021, for when the turn signal for detecting automotive run-off-road and the vehicle is not opened, according to
The facial image obtains the subjective of the driver and deviates intention and physical condition；
First judging unit 1022, for judging that the subjective deviation is intended to and whether is the direction of the automotive run-off-road
Unanimously；
Second judgment unit 1023, if being intended to for the subjective deviation different with the direction of the automotive run-off-road
It causes, judges whether the physical condition of the driver is fatigue；
First alarm unit 1024 at least carries out audible alarm if the physical condition for the driver is fatigue；
Second alarm unit 1025, if the physical condition for the driver is non-fatigue or the subjective deviation
When being intended to consistent with the direction of the automotive run-off-road, then without audible alarm.
It is available to deviate intention and body to the subjective of driver by analyzing facial image in the present embodiment
Body state, subjectivity, which deviates, to be intended to include doubling to the left, doubling to the right, normally totally three kinds, is obtained by the analysis to facial image
Deviate to subjectivity and be intended to, such as can know that subjective deviation is intended to by be flapped toward (i.e. the head pose) of driver head, or
By the direction of eye gaze know it is subjective deviate be intended to, or combine driver head be flapped toward and the direction of eye gaze is obtained
Know that subjective deviation is intended to, it is preferable that know that subjective deviation is intended to by being flapped toward for driver head.Physical condition includes awake
And totally two kinds of fatigue, awake, medium fatigue, totally three kinds of major fatigue can also be divided into according to actual needs, by face figure
The analysis of picture gets physical condition, for example, the closure degree duration by eye knows physical condition, Huo Zhetong
Physical condition is known at the elevation angle for crossing head, perhaps by the variation of mouth or in conjunction at least two of eye, head and mouth
Know physical condition etc. in part, it is preferable that physical condition known by the closure degree duration of eye.
When subjectivity, which deviates, is intended to consistent with the direction of automotive run-off-road, refer to: subjectivity, which deviates, to be intended to the left simultaneously
When line, then vehicle is deviated to the left or left survey crimping；When subjectivity deviation is intended to doubling to the right, then vehicle is deviated to the right or right survey is pressed
Line.Subjectivity, which deviates, to be intended to the inconsistent scene in the direction of automotive run-off-road be the scene in addition to above-mentioned consistent scene.When
When subjectivity deviates intention and the inconsistent direction of automotive run-off-road, judge whether the physical condition of driver is tired.
The present embodiment is driven when the turn signal for detecting automotive run-off-road and vehicle is not opened by facial image acquisition
The subjective of the person of sailing deviates intention and physical condition, and when subjectivity deviation is intended to consistent with the direction of automotive run-off-road, explanation is driven
The person of sailing just concentrates one's energy to drive, and does not need to carry out sound early warning, to prevent from interfering with driver；Deviate intention and vehicle in subjectivity
When the direction of run-off-road is inconsistent, need to judge the physical condition of driver, it, can also if driver is in non-fatigue state
To illustrate that driver just concentrates one's energy to drive, do not need to carry out sound early warning, to prevent from interfering with driver, if at driver
In fatigue state, then at least need to carry out sound early warning, and carry out early warning in combination with the mode such as indicator light and steering wheel vibration,
To play strong suggesting effect to driver, the accuracy rate of alarm can be improved in this way.
In the present embodiment, for example, when surrounding vehicles are less or without vehicle in the case where carry out lane change when, if driver does not open
Turn signal is opened, in the case where showing to want the intention of lane change on body posture, not will do it alarm, but do not have on body posture
In the case where having the intention for showing to want lane change, in the state of detecting that driver is in awake, it will not alarm,
And it will do it audible alarm in driver fatigue；Or driver habit is travelled close to sideline or short time crimping travels but turns
It is not opened to lamp, the intention for wanting lane change is not shown on body posture, but due to detecting that driver is in awake shape
It under state, will not alarm, and will do it audible alarm in driver fatigue；Or when turn signal be it is breech-loading, this
When do not determine whether to alarm further according to the switch state of turn signal, but according to the direction of automotive run-off-road, the master of driver
It sees to deviate and be intended to and physical condition integrated decision-making, carry out lane change early warning, improve the accuracy rate of early warning, and be reduced as far as to driving
The interference for the person of sailing.
In a preferred embodiment, as shown in fig. 7, on the basis of the embodiment of above-mentioned Fig. 6, acquiring unit 1021 is wrapped
It includes:
Subelement 10211 is extracted, for extracting human eye feature point and face feature point according to the facial image；
Subelement 10212 is obtained, it is special according to the face for obtaining the physical condition according to the human eye feature point
Sign point obtains the subjective deviation and is intended to.
In the present embodiment, after collecting facial image, human eye feature point and face feature point are extracted, wherein human eye is special
Sign point preferably includes the characteristic point at canthus and highest point and the minimum point of upper lower eyelid, and face feature point is more, such as can
To include the characteristic point etc. of head several organs therein, excessive restriction is not done herein.
The present embodiment preferably obtains physical condition according to human eye feature point, and the multiple of human eye are extracted first from facial image
Characteristic point is opened or is closed using the method identification eye state of pattern classification, and the degree of closure.Then by system
Meter analysis, can generally judge whether driver is tired by PERCLOS method.Furthermore it is also possible to further combined with blink
Frequency, mouth variation, head the indexs such as state come whether comprehensive assessment driver tired, and the degree of fatigue.
The present embodiment extracts human eye feature point and face feature point according to facial image, obtains body by human eye feature point
State and by face feature point obtain it is subjective deviate be intended to, and become in conjunction with the direction integrated decision-making of automotive run-off-road
The mode of road early warning can be improved the accuracy of vehicle lane change early warning.
Wherein, subelement is obtained to be specifically used for obtaining driver head within a preset time according to the face feature point
The elevation angle mean value in portion and the deflection mean value on head；When the elevation angle mean value is greater than predetermined angle threshold value, the direction is judged
Whether angle mean value is greater than preset amount of yaw, and it is preset to judge whether the duration for being greater than preset amount of yaw is less than
Effective time；If the result of judgement is to be, the subjective deviation is obtained according to the deflection mean value and is intended to.
In the present embodiment, the deflection mean value on the elevation angle mean value on head and head can be used to judge driver be visually before
Side, or see to the left or to the right.When elevation angle mean value i.e. on head is greater than predetermined angle threshold value, it is believed that face front, so
Judge whether deflection mean value is greater than preset amount of yaw again afterwards, that is, judges whether driver sees to the left or to the right, it is last true
Determine driver and be intended to doubling to be to the left also intended to doubling to the right.
The present embodiment is as follows according to the principle that face feature point obtains subjective deviation intention: first in state of motion of vehicle
Under, the head elevation angle mean value and deflection mean value of (such as 1 minute) driver were counted in a period of time, and then, setting is reasonable
Predetermined angle threshold value and amount of yaw；Judge whether driver bows according to predetermined angle threshold value and head elevation angle mean value first,
Judge that it is not bowed when i.e. head elevation angle mean value is greater than predetermined angle threshold value, for the state for facing front, it is believed that at driver
In waking state, judge whether leftward or rightward yaw further according to deflection mean value, after obtaining head pose, i.e., if it is
When leftward or rightward yaw, then immediate record time stamp T 0, restores normal condition on head, then records current time stamp T, effectively
Time, TX was preferably set to 2s, represent the effective time of head pose, if T-T0 < TX, driver is in effective time TX
It is interior to left swing head, then represent that driver is subjective to think doubling to the left；The yaw to the right in effective time TX, then represent driver master
Doubling to the right is thought in sight.
In a preferred embodiment, as shown in figure 8, on the basis of the embodiment of above-mentioned Fig. 5, the deviation is pre-
Alert device further include:
Detection module 100, for obtaining the forward sight of the vehicle when the speed of the vehicle is greater than pre-set velocity threshold value
Acquisition unit acquisition deviation image, according to vehicle described in the deviation image detection whether run-off-road.
In the present embodiment, in the driving process of vehicle, the current speed of vehicle can be obtained by velocity sensor, is sentenced
Whether the speed of breaking is greater than pre-set velocity threshold value, if being not more than the pre-set velocity threshold value, it is believed that the current traveling of vehicle
Speed is smaller, not will cause safety accident generally, can be without early warning.When speed is greater than pre-set velocity threshold value, in order to most
Prevent safety accident to big speed limit, needs to open the Lane Departure Warning System in the present embodiment, to pass through deviation
The case where early warning system causes danger to the possibility caused due to vehicle lane change carries out early warning, to remind driver.Certainly, when
When speed is not more than pre-set velocity threshold value, Lane Departure Warning System can be closed.
The present embodiment acquires lane slip chart picture by the forward sight acquisition unit of the side or front that are mounted on vehicle, passes through
Analysis to the deviation image of acquisition, it can be determined that vehicle whether run-off-road.
The present invention also provides a kind of systems of lane departure warning, as shown in figure 9, in one embodiment, the deviation
Pre-warning system includes forward sight acquisition unit, backsight acquisition unit, turn signal signal acquisition unit and Logical processing unit,
In:
Forward sight acquisition unit, for acquiring lane slip chart picture；
Backsight acquisition unit, for acquiring the facial image of driver；
Turn signal signal acquisition unit, for acquiring turn signal state；
Logical processing unit, for obtaining the deviation image, facial image and turn signal state, when detecting
When stating the turn signal of automotive run-off-road and the vehicle and not opening, according to the facial image and the automotive run-off-road
Direction carries out lane change early warning.
Wherein, the device of lane departure warning above-mentioned is loaded on Logical processing unit.The installation of forward sight acquisition unit
In the side or front of vehicle, and lane slip chart picture is acquired in real time, then give deviation image transmitting to logical process list
Member, Logical processing unit Built-in Image handles chip can be directly on deviation image after obtaining deviation image
It is handled, can also be handled on reasonable top view being generated by IPM, to extract lane line parameter.It is right first
Deviation image is pre-processed, Threshold segmentation and edge enhance, and then utilizes Hough Hough transform or other extraction straight lines
Method extract left and right lane line parameter, finally choose suitable lane departure warning model, such as TLC according to actual needs
Or other methods, to determine the deviation state of vehicle, the deviation state of vehicle or the direction of run-off-road include it is normal, to left avertence
From, left survey crimping, be deviated to the right, right side crimping totally 5 kinds of states；
Backsight acquisition unit is installed in vehicle, is transferred to for acquiring the facial image of driver, and by facial image
The Logical processing unit, so that facial image of the Logical processing unit to driver is analyzed:
When the turn signal for detecting automotive run-off-road and the vehicle is not opened, it is special that human eye is extracted according to facial image
Sign point and face feature point obtain the physical condition according to human eye feature point, obtain the subjectivity partially according to face feature point
, without audible alarm, deviate in subjectivity and be intended to when subjectivity deviation is intended to consistent with the direction of automotive run-off-road from intention
When inconsistent with the direction of automotive run-off-road, further judge whether the physical condition of driver is fatigue, if in non-
Fatigue state but if in a state of fatigue, then at least carry out audible alarm, finally refers to alarm also without audible alarm
Order is transferred to man-machine interaction unit, is alarmed by man-machine interaction unit, in this way, can be according to forward sight acquisition unit
The facial image integrated decision-making of the driver of deviation image and backsight the acquisition unit acquisition of acquisition, carries out lane change early warning,
It can be improved the accuracy rate of vehicle lane change early warning, reduce safety accident odds.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, computer, clothes
Business device, air conditioner or the network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (11)
1. a kind of method of lane departure warning, which is characterized in that the method for the lane departure warning the following steps are included:
Obtain the facial image of the driver of the backsight acquisition unit acquisition of vehicle, the deviation figure of forward sight acquisition unit acquisition
Picture and the turn signal state of turn signal signal acquisition unit acquisition；
When the turn signal for detecting the automotive run-off-road and the vehicle is not opened, institute is obtained according to the facial image
It states the subjective of driver and deviates intention and physical condition；
It is pre- that lane change is carried out according to the subjective direction for deviateing intention, physical condition and the automotive run-off-road of the driver
It is alert.
2. the method for lane departure warning as described in claim 1, which is characterized in that when detecting the automotive run-off-road
And the turn signal of the vehicle is when opening, according to the facial image obtain the driver it is subjective deviate be intended to and body
State；It is pre- that lane change is carried out according to the subjective direction for deviateing intention, physical condition and the automotive run-off-road of the driver
Alert step includes:
When the turn signal for detecting automotive run-off-road and the vehicle is not opened, driven according to facial image acquisition
The subjective of the person of sailing deviates intention and physical condition；
Judge whether the subjective deviation is intended to consistent with the direction of the automotive run-off-road；
If the subjective intention that deviates is inconsistent with the direction of the automotive run-off-road, the body shape of the driver is judged
Whether state is fatigue；
If the physical condition of the driver is fatigue, audible alarm is at least carried out；
If the physical condition of the driver is non-fatigue or the subjective side for deviateing intention with the automotive run-off-road
To it is consistent when, then without audible alarm.
3. the method for lane departure warning as claimed in claim 2, which is characterized in that described to be obtained according to the facial image
The driver it is subjective deviate be intended to and the step of physical condition includes:
Human eye feature point and face feature point are extracted according to the facial image；
The physical condition is obtained according to the human eye feature point, the subjective deviation meaning is obtained according to the face feature point
Figure.
4. the method for lane departure warning as claimed in claim 3, which is characterized in that described to be obtained according to the face feature point
It takes and described subjective deviate the step of being intended to and include:
The driver elevation angle mean value on head and the deflection on head within a preset time are obtained according to the face feature point
Mean value；
When the elevation angle mean value is greater than predetermined angle threshold value, judge whether the deflection mean value is greater than preset yaw width
Degree, and judge whether the duration for being greater than preset amount of yaw is less than preset effective time；
If the result of judgement is to be, the subjective deviation is obtained according to the deflection mean value and is intended to.
5. such as the method for the described in any item lane departure warnings of Claims 1-4, which is characterized in that the acquisition vehicle
Include: before the step of facial image of the driver of backsight acquisition unit acquisition
When the speed of the vehicle is greater than pre-set velocity threshold value, the lane for obtaining the forward sight acquisition unit acquisition of the vehicle is inclined
From image, according to vehicle described in the deviation image detection whether run-off-road.
6. a kind of device of lane departure warning, which is characterized in that the device of the lane departure warning includes:
Module is obtained, facial image, the forward sight acquisition unit for the driver that the backsight acquisition unit for obtaining vehicle acquires are adopted
The turn signal state of deviation image and turn signal the signal acquisition unit acquisition of collection；
Warning module, for when the turn signal for detecting the automotive run-off-road and the vehicle is not opened, according to described
Facial image obtains the subjective of the driver and deviates intention and physical condition；Be intended to according to the subjective deviation of the driver,
The direction of physical condition and the automotive run-off-road carries out lane change early warning.
7. the device of lane departure warning as claimed in claim 6, which is characterized in that the warning module includes:
Acquiring unit, for when the turn signal for detecting automotive run-off-road and the vehicle is not opened, according to the face
Image obtains the subjective of the driver and deviates intention and physical condition；
First judging unit, for judging that it is whether consistent with the direction of the automotive run-off-road that the subjective deviation is intended to；
Second judgment unit judges if inconsistent with the direction of the automotive run-off-road for the subjective intention that deviates
Whether the physical condition of the driver is fatigue；
First alarm unit at least carries out audible alarm if the physical condition for the driver is fatigue；
Second alarm unit, if the physical condition for the driver is non-fatigue or the subjective deviation is intended to and institute
State automotive run-off-road direction it is consistent when, then without audible alarm.
8. the device of lane departure warning as claimed in claim 7, which is characterized in that the acquiring unit includes:
Subelement is extracted, for extracting human eye feature point and face feature point according to the facial image；
Subelement is obtained, for obtaining the physical condition according to the human eye feature point, is obtained according to the face feature point
The subjective deviation is intended to.
9. the device of lane departure warning as claimed in claim 8, which is characterized in that the acquisition subelement is specifically used for root
The driver elevation angle mean value on head and the deflection mean value on head within a preset time are obtained according to the face feature point；When
When the elevation angle mean value is greater than predetermined angle threshold value, judge whether the deflection mean value is greater than preset amount of yaw, and sentence
Whether the disconnected duration greater than preset amount of yaw is less than preset effective time；If the result of judgement is to be, root
The subjective deviation is obtained according to the deflection mean value to be intended to.
10. such as the device of the described in any item lane departure warnings of claim 6 to 9, which is characterized in that the deviation is pre-
Alert device further include:
Detection module, the forward sight acquisition for when the speed of the vehicle is greater than pre-set velocity threshold value, obtaining the vehicle are single
Member acquisition deviation image, according to vehicle described in the deviation image detection whether run-off-road.
11. a kind of system of lane departure warning, which is characterized in that the system of the lane departure warning includes that forward sight acquisition is single
Member, backsight acquisition unit, turn signal signal acquisition unit and Logical processing unit, in which:
The forward sight acquisition unit, for acquiring lane slip chart picture；
The backsight acquisition unit, for acquiring the facial image of driver；
The turn signal signal acquisition unit, for acquiring turn signal state；
The Logical processing unit, for obtaining the deviation image, facial image and turn signal state, when detecting vehicle
When the turn signal of run-off-road and the vehicle is not opened, the subjective of the driver is obtained according to the facial image and is deviateed
Intention and physical condition；According to the subjective direction for deviateing intention, physical condition and the automotive run-off-road of the driver
Carry out lane change early warning.
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| TWI646001B (en) * | 2017-08-18 | 2019-01-01 | 神達電腦股份有限公司 | Lane departure warning method and system |
| CN109515313A (en) * | 2017-09-18 | 2019-03-26 | 佛山市顺德区顺达电脑厂有限公司 | Lane departure warning method and its system |
| CN109017813A (en) * | 2018-06-14 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of deviation alarm method and device |
| CN109299674B (en) * | 2018-09-05 | 2022-03-18 | 重庆大学 | Tunnel illegal lane change detection method based on car lamp |
| CN110491126B (en) * | 2019-08-25 | 2021-11-16 | 安徽深蓝大健康智能科技有限公司 | Non-motor vehicle intersection driving control method and system based on Internet of things technology |
| JP7264103B2 (en) * | 2020-04-21 | 2023-04-25 | トヨタ自動車株式会社 | Vehicle control system and vehicle control method |
| CN112289075A (en) * | 2020-10-28 | 2021-01-29 | 武汉极目智能技术有限公司 | Self-adaptive setting method and system for alarm strategy of vehicle active safety system |
| CN113581196B (en) * | 2021-08-30 | 2023-08-22 | 上海商汤临港智能科技有限公司 | Method and device for early warning of vehicle running, computer equipment and storage medium |
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