CN108437987A - A kind of method and system preventing deviation - Google Patents
A kind of method and system preventing deviation Download PDFInfo
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- CN108437987A CN108437987A CN201810292236.5A CN201810292236A CN108437987A CN 108437987 A CN108437987 A CN 108437987A CN 201810292236 A CN201810292236 A CN 201810292236A CN 108437987 A CN108437987 A CN 108437987A
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- Prior art keywords
- lane line
- vehicle
- deviation
- side lane
- assistant interventional
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
Abstract
The invention discloses a kind of method and system preventing deviation.This approach includes the following steps：Road image in front of collection vehicle, vehicle is identified from road image where track lane line, wherein, the lane line that vehicle deviates is deviation side lane line, when assistant interventional position is arranged in the inside edge of deviation side lane line, vehicle passes through the time needed for the assistant interventional position more than or equal to the supplemental threshold time is deviateed close to the front-wheel of deviation side lane line, steering force assistant interventional is provided, so that vehicle is returned to former track and vehicle is made to be maintained at former track and nearby be travelled close to deviation side lane line.Correspondingly, which includes image acquisition units, Lane detection unit, booster action line setting unit, deviates assistant interventional unit and track holding unit.The present invention can make the traveling for returning to the vehicle stabilization in former track after deviation on former track, solve the problems, such as snakelike enforcement of the vehicle in the case where deviation miscellaneous function controls.
Description
Technical field
The present invention relates to intelligent driving ancillary technique field more particularly to a kind of method and system preventing deviation.
Background technology
For automobile active safety system, study at present it is more be Lane Departure Warning System and forward direction knock into the back it is pre-
Alert system, this is determined by the major demands of current field of automobile safety.More parts of survey reports show that deviation is with before
Sizable ratio is accounted in traffic accident to knocking into the back, and is even more such as especially under highway and some structured roads
This.The main reason for traffic accident at present, can be divided into five classes, and wherein deviation accounts for 19%, and forward direction, which knocks into the back, accounts for 26%,
Others further include that lane-change overtakes other vehicles, imports wagon flow etc..Therefore, it is very significant to the research of Lane Departure Warning System.
Deviation auxiliary is used by the front camera at front windshield, the vehicle based on video imaging system
Road sideline detects to measure distance and bearing of the vehicle relative to left and right side lane line.Once vehicle occurs unconscious inclined
From track and have the tendency that touching lane line, then system provides steering control by electronic power assist steering (EPS) system for driver
System makes vehicle return to former track.Therefore, it is possible to reduce side collision and other related accidents.Deviation miscellaneous function is applicable in
In high-speed working condition, operation speed of machine is 60km/h or more, can be applied to different type (solid line, dotted line and dotted lines) and color
The road traffic sideline of (white, yellow, orange and blue).
Deviation miscellaneous function on current market is mostly that original is deviated under the case where driver is unaware that
Auxiliary is provided when track makes vehicle return to former track, if take over vehicle, vehicle can not deviate from the other side to driver for a long time
Track, can cause vehicle route deviation miscellaneous function effect under snakelike traveling.Due to the travel route of vehicle it is unstable with
The risk of Shi Douyou and adjacent lane collision.
The patent of Patent No. CN107310553A discloses a kind of deviation report preventing unilateral deviation repetition of alarms
Alarm method and system, the system at unilateral lane line by being arranged warning line, warning end lines and external counting line again, energy
Effectively solve the problems, such as that vehicle can alarm when deviateing side lane line when revolver deviates and right wheel deviates, but not
It can solve the problems, such as the snakelike traveling of vehicle.
To sum up, it is contemplated that vehicle safety will not only make vehicle need that it is assisted to return to former track when deviateing, and
And stable traveling is also required on former track returning to former track rear vehicle, reduce risk that may be present.
Invention content
In view of this, preventing track inclined based on deviation miscellaneous function the main purpose of the present invention is to provide a kind of
Control method and system from the snakelike enforcement of rear vehicle, by deviation miscellaneous function on the basis of track keeps auxiliary system
Carry out control strategy modification, it is intended to solve current vehicle vehicle snakelike row in former track when deviation auxiliary system activates
Sail problem.
In order to solve the above technical problem, the present invention provides a kind of methods preventing deviation, including：
Road image in front of collection vehicle；
The lane line in track where identifying vehicle from the road image, wherein the lane line that vehicle deviates is inclined
From side lane line；
In the inside edge of deviation side lane line, assistant interventional position is set；
It is more than or waits when vehicle passes through the time needed for the assistant interventional position close to the front-wheel of deviation side lane line
When deviateing the supplemental threshold time, steering force assistant interventional is provided, vehicle is made to return to former track；
Vehicle is set to be maintained at former track and nearby be travelled close to the deviation side lane line.
Further, the lane line in track where identifying vehicle from the road image based on image processing techniques,
And calculate the distance between the front-wheel and the inward flange of deviation side lane line and lateral direction of car deviation rate v, the deviation
The distance between supplemental threshold time=wheel and the inward flange of deviation side lane line/lateral direction of car deviate rate v；
Assistant interventional position is arranged in the inside edge in deviation side lane line, including：
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.08m±0.15m；
As the 0.1m/s<When V≤1m/s, inward flange of the assistant interventional position apart from deviation side lane line away from
From for 0.8s × v ± 0.15m；
As V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m。
Preferably, before the offer steering force assistant interventional, further include：Judge this assistant interventional time with it is preceding primary
Whether the interval between the assistant interventional time is more than the first preset time, if so, steering force assistant interventional is provided, if it is not, then
Steering force assistant interventional is not provided.
After the offer steering force assistant interventional, further include：It is pre- to judge whether this assistant interventional duration is more than second
If the time, if so, stopping providing steering force assistant interventional, if it is not, then continuing to provide steering force assistant interventional.
Further, the method further includes failing line in the inside edge setting auxiliary of deviation side lane line, institute
It states auxiliary and fails the distance between line and the inward flange of deviation side lane line more than the assistant interventional position and deviation
The distance between the inward flange of side lane line；
When vehicle return to former track and the front-wheel pass through the auxiliary fail line when, stop providing steering assistance dry
In advance.
Further, described that vehicle is made to be maintained at former track and nearby be travelled close to the deviation side lane line, including：Make
Vehicle rear axle center line to the distance between the inward flange of deviation side lane line be the first distance, using first distance as target
Path line makes vehicle be maintained near deviation side lane line and travels to control vehicle.
Further, the method further includes：When vehicle rear axle central point between deviation side lane line inward flange away from
When from less than 0.2 vehicle width, stop providing steering force intervention.
Correspondingly, the present invention also provides a kind of systems preventing deviation, including image acquisition units, lane line to know
Other unit, deviates assistant interventional unit and track holding unit at booster action line setting unit；
Described image collecting unit, for the road image in front of collection vehicle；
The Lane detection unit, the lane line for identifying vehicle place track from the road image,
In, the lane line that vehicle deviates is deviation side lane line；
The booster action line setting unit is acted on for the inside edge setting assistant interventional in deviation side lane line
Line；
The deviation assistant interventional unit, for passing through the assistant interventional close to the front-wheel of deviation side lane line when vehicle
When time needed for position is greater than or equal to the deviation supplemental threshold time, steering force assistant interventional is provided, so that vehicle is returned former
Track；
The track holding unit, for making vehicle be maintained at former track and close to row near the deviation side lane line
It sails.
Further, the Lane detection unit is identified for being based on image processing techniques from the road image
The lane line in track where going out vehicle, and calculate the distance between the front-wheel and deviation side lane line inward flange and vehicle cross
To rate v is deviateed, the distance between described inward flange for deviateing supplemental threshold time=wheel and deviation side lane line/vehicle is horizontal
To deviation rate v；
The booster action line setting unit, for deviateing rate v according to lateral direction of car, in the inner edge of deviation side lane line
Assistant interventional position is set at edge, specially；
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.08m±0.15m；
As the 0.1m/s<When V≤1m/s, inward flange of the assistant interventional position apart from deviation side lane line away from
From for 0.8s × v ± 0.15m；
As V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m。
Further, the system also includes assistant interventional judging unit, the assistant interventional judging unit,
For before steering assistance is provided and is intervened, judge this assistant interventional time and a preceding assistant interventional time it
Between interval whether be more than the first preset time, if so, provide steering assistance intervention, if it is not, then stopping steering assistance intervention；
And for after intervening for steering assistance, judging whether this assistant interventional duration is more than the second preset time,
If so, stopping steering assistance intervention, if it is not, then continuing to provide steering assistance intervention；
And for being less than 0.2 vehicle width when the distance between vehicle rear axle central point to the inward flange of deviation side lane line
When, stop providing steering force intervention.
Further, the booster action line setting unit is additionally operable to stop in the inside edge setting auxiliary of lane line
Position, the auxiliary fail the distance between line and the inward flange of deviation side lane line more than assistant interventional effect
The distance between the inward flange of line and deviation side lane line；When the former track of vehicle return and the front-wheel edge passes through the auxiliary
Fail line when, stop provide steering assistance intervention；
The track holding unit, for when vehicle returns to former track, making vehicle rear axle center line to deviation side track
The distance between inward flange of line is the first distance, controls vehicle as target track trace using first distance, vehicle is made to protect
It holds and is travelled near deviation side lane line.
Implement the present invention to have the advantages that：Assistant interventional position, the assistant interventional position is arranged in the present invention
It is the condition for judging whether to intervene steering force assistant interventional (i.e. activation deviates miscellaneous function), furthermore, the present invention can also be arranged
Auxiliary fails line, and the auxiliary line that fails is to judge whether to stop intervention steering force auxiliary when vehicle returns to former track
Help the condition of intervention (exit deviate miscellaneous function), in addition, when deviateing miscellaneous function activation, the present invention with lane line near
Target makes vehicle be maintained at lane line enforcement nearby in order to control in region.I.e. the present invention redefines swashing for deviation miscellaneous function
With lane line near zone, target makes vehicle be maintained at work near lane line in order to control when living and exit criteria and function activation
The characteristic of work solves the problems, such as snakelike enforcement of the vehicle under the control of deviation miscellaneous function, not only to make occur it is inclined
From when need to assist it to return to former track, and be also required to stable traveling on former track being returned from track rear vehicle, carry
The high driving safety of vehicle.
Description of the drawings
It, below will be to required in embodiment or description of the prior art in order to illustrate more clearly of technical scheme of the present invention
The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is the first flow chart of the method for preventing deviation of the present invention；
Fig. 2 is second of flow chart of the method for preventing deviation of the present invention；
The positional structure schematic diagram of line that Fig. 3 is the assistant interventional position of the present invention and auxiliary fails；
Fig. 4 is the lane line model foundation schematic diagram of the present invention；
Fig. 5 is the first position between the vehicle front-wheel, deviation side lane line and assistant interventional position of the present invention
Structural schematic diagram；
Fig. 6 is second of position between the vehicle front-wheel, deviation side lane line and assistant interventional position of the present invention
Structural schematic diagram；
Fig. 7 is that the vehicle of the present invention returns to former track under the effect of steering force assistant interventional and continues being maintained at former track
The structural schematic diagram of traveling；
Fig. 8 is the third flow chart of the method for preventing deviation of invention；
Fig. 9 is the 4th kind of flow chart of the method for preventing deviation of invention；
Figure 10 is the structural schematic diagram that driver actively changes；
Figure 11 is the structure diagram of the system for preventing deviation of the present invention.
Wherein, reference numeral corresponds in figure：1- deviation side lane lines, 2- assistant interventional positions, 3- auxiliary stop making
With line, 4- vehicle front-wheels, 5- vehicle rear axle center lines, 6- vehicle rear axle central points.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, is carried out to the technical solution in inventive embodiments clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, the every other reality that those of ordinary skill in the art are obtained without making creative work
Example is applied, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, the invention discloses a kind of methods preventing deviation, including：
Road image in front of S01, collection vehicle.
In the present embodiment, the road image of vehicle front can be obtained by camera.Certainly can also include noise reduction
And etc. with promoted acquisition image clarity.
S02, the lane line that track where vehicle is identified from the road image, the lane line in track by two,
In, the lane line that vehicle will be deviated from or be had deviated from out is deviation side lane line, can be based on which existing method judges
One of lane line is deviation side lane line, for example, by lane line before vehicle front-wheel at a distance from compare with pre-determined distance, when
Lane line before vehicle front-wheel at a distance from pre-determined distance be less than the pre-determined distance, judge this road lane line for deviation side track
Line.
S03, the inside edge setting assistant interventional position in deviation side lane line.
The assistant interventional position is substantially dummy line obtained from being calculated as software, is when track is deviateed
When, the condition that the intervention of deviation miscellaneous function is intervened is arranged in lane line inside edge, it is of course possible to according to actual conditions
It inwardly or outwardly moves, which is generally located on two lane line inside edges in track, but can also root
It is provided separately within left or right side according to actual needs.
S04, the time needed for the assistant interventional position is passed through close to the front-wheel edge of deviation side lane line when vehicle
When more than or equal to deviateing the supplemental threshold time, steering force assistant interventional is provided, vehicle being made to return to former track.
This step is to deviate the step of miscellaneous function is activated, and when deviation miscellaneous function is activated, illustrates driver at this time
Deviation miscellaneous function is not activated if driver is in conscious state in automatism.Wherein, vehicle is close to partially
Front-wheel from side lane line is front-wheel corresponding with deviation side lane line, if for example, deviation side lane line is left-hand lane
Line, then vehicle is the near front wheel close to the front-wheel of deviation side lane line, if deviation side lane line is right-hand lane line, vehicle is close
The front-wheel of deviation side lane line is off-front wheel.The required time for passing through the assistant interventional position can be understood as front-wheel wheel
The lateral surface of tire is more than the time needed for the assistant interventional position.
Offer steering force assistant interventional in this step belongs to deviation miscellaneous function in the prior art, here, not
It is specifically limited.
S05, vehicle is made to be maintained at former track and nearby be travelled close to deviation side lane line.
When vehicle returns to former track under the action of deviateing miscellaneous function activation, with lane line near zone mesh in order to control
Mark makes vehicle be maintained at lane line enforcement nearby.
Assistant interventional position is arranged in the present embodiment, which is to judge whether that intervening steering force auxiliary does
With lane line near zone, target makes vehicle protect in order to control when the condition and function activation of (i.e. activation deviates miscellaneous function) in advance
The characteristic to work near lane line is held, solves the problems, such as vehicle snakelike enforcement under the control of deviation miscellaneous function, no
It so that vehicle is needed that it is assisted to return to former track when deviateing, and can stablize being returned from track rear vehicle also
Traveling on former track, improve the driving safety of vehicle.
Embodiment 2
As shown in Fig. 2, the invention discloses the methods that another kind prevents deviation, including：
Road image in front of S01, collection vehicle.
In the present embodiment, the road image of vehicle front can be obtained by camera.Certainly can also include noise reduction
And etc. with promoted acquisition image clarity.
S02, the lane line that track where vehicle is identified from the road image, the lane line in track by two,
In, the lane line that vehicle will be deviated from or be had deviated from out is deviation side lane line.
S03, it fails line 3 in the inside edge setting assistant interventional position 2 and auxiliary of deviation side lane line 1, institute
It states auxiliary and fails the distance between line and the inward flange of deviation side lane line more than the assistant interventional position and deviation
The distance between the inward flange of side lane line.
The assistant interventional position 2 and the auxiliary line 3 that fails substantially are dummy lines obtained from being calculated as software,
Assistant interventional position is when track is deviateed, and the condition that the intervention of deviation miscellaneous function is intervened, auxiliary fails
Line is that vehicle returns to former track, and deviation auxiliary work(exits the condition that intervention is intervened.As shown in figure 3, assistant interventional position
It is arranged at deviation side lane line inside edge with the auxiliary line that fails, it is of course possible to inwardly or outwardly move according to actual conditions
Dynamic, two lane line inside edges for being generally located on track are all provided with and help intervention effect line and auxiliary fails line, but
It can be provided separately within left or right side according to actual needs.
S04, the time needed for the assistant interventional position is passed through close to the front-wheel edge of deviation side lane line when vehicle
When more than or equal to deviateing the supplemental threshold time, steering force assistant interventional is provided, vehicle being made to return to former track.
This step is to deviate the step of miscellaneous function is activated, and when deviation miscellaneous function is activated, illustrates driver at this time
Deviation miscellaneous function is not activated if driver is in conscious state in automatism.Wherein, vehicle is close to partially
Front-wheel from side lane line is front-wheel corresponding with deviation side lane line, if for example, deviation side lane line is left-hand lane
Line, then vehicle is the near front wheel close to the front-wheel of deviation side lane line, if deviation side lane line is right-hand lane line, vehicle is close
The front-wheel of deviation side lane line is off-front wheel.The time for passing through the assistant interventional position can be understood as the outer of front tyre
Side is more than the time needed for the assistant interventional position.
S05, when vehicle return to former track and the front-wheel edge pass through the auxiliary fail line when, stop providing and turn
To assistant interventional.
This step is after vehicle returns to former track, to deviate miscellaneous function and exit the step of intervention is intervened, pass through the auxiliary
Failing, time of line, to can be understood as the lateral surface of front tyre be more than described to assist time for failing needed for line.
S06, vehicle is made to be maintained at former track and nearby be travelled close to deviation side lane line.When vehicle is deviateing miscellaneous function
When returning to former track under the action of activation, with lane line near zone, target makes vehicle be maintained at row near lane line in order to control
Make.
The present invention is arranged assistant interventional position and auxiliary and fails line, which is to judge whether to be situated between
Enter the condition of steering force assistant interventional (i.e. activation deviate miscellaneous function), the auxiliary line that fails is when vehicle returns to former track
When, judge whether the condition for stopping intervention steering force assistant interventional (exit and deviate miscellaneous function), in addition, assisting work(deviateing
When can activate, with lane line near zone, target makes vehicle be maintained at lane line enforcement nearby to the present invention in order to control.It is i.e. of the invention
Redefine deviation miscellaneous function activation and exit criteria and when function activation with lane line near zone in order to control
Target makes vehicle be maintained at the characteristic that lane line nearby works, and solves snakelike enforcement of the vehicle in deviation miscellaneous function
Problem can not only make vehicle need that it is assisted to return to former track when deviateing, and be returned from track rear vehicle
The traveling that can stablize improves the driving safety of vehicle on former track.
Embodiment 3
As shown in figure 8, present embodiment discloses the method that another kind prevents deviation, this method is to embodiment 1
Further refinement, this method include：
S01, the road image that vehicle front is obtained by camera.
The present embodiment is not construed as limiting the specific location that camera is installed on vehicle.
S02, vehicle from the road image is identified by lane line Cubic Curve Fitting based on image processing techniques
The lane line in place track, and calculate the distance between the inward flange of the front-wheel and deviation side lane line close to deviation side lane line
D and lateral direction of car deviate rate v, between the deviation supplemental threshold time T=wheels and the inward flange of deviation side lane line
Distance D/ lateral direction of car deviate rate v.
Lane line is identified by current widely applied Preprocessing Technique in this step, i.e., is carried from picture
Area-of-interest (ROI) is taken to carry out picture element interpolation calculating, edge detection scheduling algorithm calculates current vehicle apart from lane line distance
And the parameters such as side velocity of vehicle.
Lane line is identified, track line model is built using Clothoid models, as shown in formula 1.Wherein, y0
It indicates apart from lane line transversal displacement, ε indicates that vehicle travels course angle, and C0 indicates that road curvature, C1 indicate that road curvature becomes
Rate.Design parameter illustrates lane line model foundation schematic diagram as shown in Figure 4；
S03, rate is deviateed according to lateral direction of car, assistant interventional position is set in the inside edge of deviation side lane line,
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m, as the 0.1m/s<When V≤1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line
For 0.8s × v ± 0.15m, as V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line
For 0.08m ± 0.15m.
S041, judge that vehicle passes through the time t of the assistant interventional position close to the front-wheel edge of deviation side lane line
Whether T is more than or equal to, if it is not, steering force assistant interventional is not provided then, if so, executing next step.
Wherein, t=vehicles are close to the distance between front-wheel edge of deviation side lane line to the assistant interventional position
D/ lateral direction of car deflection rates V.
As shown in figure 5, when vehicle front-wheel 4 is fallen between deviation side lane line 1 and assistant interventional position 2, if t >=
T when i.e. d >=D, illustrates that vehicle has the risk deviateed, then provides steering force assistant interventional because V is equal.
As shown in fig. 6, when vehicle front-wheel 4 is fallen in the outside of deviation side lane line, illustrate that vehicle has deviated from out track,
At this point, t >=T, provides steering force assistant interventional.
S042, judge whether the interval between this assistant interventional time and a preceding assistant interventional time is more than first in advance
If the time, if it is not, steering force assistant interventional is not provided then, if so, executing next step.
This method it is upper once intervened after need equal first preset time to be intervened next time again, this method is not propped up
It holds and intervenes at once.
S043, steering force assistant interventional is provided, vehicle is made to return to former track.
S044, judge whether this assistant interventional duration is more than the second preset time, if so, it is auxiliary to stop offer steering force
Intervention is helped, if it is not, then continuing to provide steering force assistant interventional.
Method in the present embodiment is a miscellaneous function, cannot replace people completely to execute, i.e. not invention is not propped up
It holds and works long hours, it is necessary to which driver takes over.
S05, as shown in fig. 7, when vehicle returns to former track, make vehicle rear axle center line 5 to the interior of deviation side lane line 1
The distance between edge is the first distance L, controls vehicle as target track trace using the first distance L, vehicle is made to be maintained at
Deviation side lane line nearby travels.
Assistant interventional position is arranged in the present embodiment, which is to judge whether that intervening steering force auxiliary does
With lane line near zone, target makes vehicle protect in order to control when the condition and function activation of (i.e. activation deviates miscellaneous function) in advance
The characteristic to work near lane line is held, solves the problems, such as snakelike enforcement of the vehicle under the control of deviation miscellaneous function, no
It so that vehicle is needed that it is assisted to return to former track when deviateing, and can stablize being returned from track rear vehicle also
Traveling on former track, improve the driving safety of vehicle.
Embodiment 4
As shown in figure 9, present embodiment discloses the method that another kind prevents deviation, this method is to embodiment 2
Further refinement, this method include：
S01, the road image that vehicle front is obtained by camera.
The present embodiment is not construed as limiting the specific location that camera is installed on vehicle.
S02, vehicle from the road image is identified by lane line Cubic Curve Fitting based on image processing techniques
The lane line in place track, and calculate the distance between the inward flange of the front-wheel and deviation side lane line close to deviation side lane line
D and lateral direction of car deviate rate v, between the deviation supplemental threshold time T=wheels and the inward flange of deviation side lane line
Distance D/ lateral direction of car deviate rate v.
The calculation of Lane detection, D, v and T in the present embodiment is identical as in embodiment 3.
Assistant interventional position is arranged in S03, the inside edge according to lateral direction of car deviation rate in deviation side lane line, when
0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m, as the 0.1m/s<When V≤1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line
For 0.8s × v ± 0.15m, as V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line
For 0.08m ± 0.15m.
Auxiliary is arranged simultaneously to fail line, the auxiliary fails between line and the inward flange of deviation side lane line
Distance is more than the distance between the inward flange of the assistant interventional position and deviation side lane line.
S041, judge that vehicle passes through the time t of the assistant interventional position close to the front-wheel edge of deviation side lane line
Whether T is more than or equal to, if it is not, steering force assistant interventional is not provided then, if so, executing next step.
S042, judge whether the interval between this assistant interventional time and a preceding assistant interventional time is more than first in advance
If the time, if it is not, steering force assistant interventional is not provided then, if so, executing next step.
This method it is upper once intervened after need equal first preset time to be intervened next time again, this method is not propped up
It holds and intervenes at once.
S043, steering force assistant interventional is provided, vehicle is made to return to former track.
S044, judge whether this assistant interventional duration is more than the second preset time, if so, it is auxiliary to stop offer steering force
Intervention is helped, if it is not, then continuing to provide steering force assistant interventional.
Method in the present embodiment is a miscellaneous function, cannot replace people completely to execute, i.e. not invention is not propped up
It holds and works long hours, it is necessary to which driver takes over.
S05, when vehicle return to former track and the front-wheel edge pass through the auxiliary fail line when, stop providing and turn
To assistant interventional.
S06, when vehicle returns to former track, make vehicle rear axle center line the distance between to deviation side lane line inward flange
For the first distance L, vehicle is controlled as target track trace using the first distance L, so that vehicle is maintained at deviation side lane line attached
Nearly traveling.
Assistant interventional position in the present embodiment, auxiliary fail line and L can be set according to different automobile types, than
Such as, assistant interventional position can be arranged at 30 ㎝ of inward flange apart from deviation side lane line, auxiliary can be stopped making
Be arranged at 60 ㎝ of inward flange apart from deviation side lane line with line, set the first distance L to 1m or so, by first it is default when
Between be set as 2.5s, set the second preset time to 8s etc..
The present invention is arranged assistant interventional position and auxiliary and fails line, which is to judge whether to be situated between
Enter the condition of steering force assistant interventional (i.e. activation deviate miscellaneous function), the auxiliary line that fails is when vehicle returns to former track
When, judge whether the condition for stopping intervention steering force assistant interventional (exit and deviate miscellaneous function), in addition, assisting work(deviateing
When can activate, with lane line near zone, target makes vehicle be maintained at lane line enforcement nearby to the present invention in order to control.It is i.e. of the invention
Redefine deviation miscellaneous function activation and exit criteria and when function activation with lane line near zone in order to control
Target makes vehicle be maintained at the characteristic that lane line nearby works, and it is snakelike under the control of deviation miscellaneous function to solve vehicle
Enforcement problem can not only make vehicle need that it is assisted to return to former track when deviateing, and be returned from track rear car
The traveling that can also stablize improves the driving safety of vehicle on former track.
Embodiment 5
Unlike above-described embodiment 1-4, embodiment adds the conditions that another assistant interventional function exits, i.e.,
The exit criteria of run-off-road, specially when the distance between vehicle rear axle central point 6 to deviation side lane line inward flange is less than
When 0.2 vehicle width, it can be determined that actively carry out lane change for driver, stop providing steering force intervention at this time, as shown in Figure 10.
Embodiment 6
As shown in figure 11, present embodiments provide a kind of system preventing deviation, the system in the present embodiment, be with
Method in embodiment 1-5 is corresponding, including；
Image acquisition units, booster action line setting unit, deviate assistant interventional unit, auxiliary at Lane detection unit
Intervene judging unit and track holding unit.
Described image collecting unit, for the road image in front of collection vehicle.
The Lane detection unit, the lane line for identifying vehicle place track from the road image,
In, the lane line that vehicle deviates is deviation side lane line.Specifically, for being based on image processing techniques from the road image
The lane line in track where identifying vehicle, and calculate the inward flange of the front-wheel and deviation side lane line close to deviation side lane line
The distance between and lateral direction of car deviate rate v.
The booster action line setting unit, for deviateing rate v according to lateral direction of car, in the inner edge of deviation side lane line
Assistant interventional position is set at edge, specially：
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.08m±0.15m；
As the 0.1m/s<When V≤1m/s, inward flange of the assistant interventional position apart from deviation side lane line away from
From for 0.8s × v ± 0.15m；
As V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m。
The booster action line setting unit is additionally operable to fail in deviation side lane line inside edge setting auxiliary
Line, the auxiliary fail line and deviation side lane line the distance between inward flange be more than the assistant interventional position with
The distance between the inward flange of deviation side lane line；When vehicle return to former track and vehicle close to deviation side lane line front wheel edge
Edge pass through it is described auxiliary fail line when, stop provide steering assistance intervention.
The deviation assistant interventional unit, for when vehicle pass through close to the front-wheel edge of the deviation side lane line it is described
When time needed for assistant interventional position is greater than or equal to the deviation supplemental threshold time, steering force assistant interventional is provided, vehicle is made
Return to former track.
The assistant interventional judging unit, for before providing steering assistance and intervening, judging this assistant interventional time
Whether the interval between the preceding assistant interventional time is more than the first preset time, if so, steering assistance intervention is provided, if
It is no, then stop steering assistance intervention；And for after intervening for steering assistance, judging whether this assistant interventional duration is more than
Second preset time, if so, stopping steering assistance intervention, if it is not, then continuing to provide steering assistance intervention；And for working as vehicle
When rear shaft center's point is less than 0.2 vehicle width to the distance between deviation side lane line inward flange, stop providing steering force intervention.
The track holding unit, for making vehicle be maintained at former track and nearby being travelled close to deviation side lane line, tool
Body is, for when vehicle returns to former track, making vehicle rear axle center line be to the distance between deviation side lane line inward flange
First distance controls vehicle using first distance as target track trace, and vehicle is made to be maintained at deviation side lane line row nearby
It sails.
The embodiment of the present invention has the advantages that：Assistant interventional position is arranged in the present invention, which makees
It is the condition for judging whether to intervene steering force assistant interventional (i.e. activation deviates miscellaneous function) with line, furthermore, the present invention can be with
Setting auxiliary fails line, and the auxiliary line that fails is to judge whether that stopping intervention turning to when vehicle returns to former track
The condition of power assistant interventional (exit and deviate miscellaneous function), in addition, when deviateing miscellaneous function activation, the present invention is with lane line
Target makes vehicle be maintained at lane line enforcement nearby near zone in order to control.I.e. the present invention redefines deviation miscellaneous function
Activation and exit criteria and to make vehicle be maintained at lane line attached for target in order to control with lane line near zone when function activation
The characteristic closely to work solves the problems, such as snakelike enforcement of the vehicle under the control of deviation miscellaneous function, can not only make vehicle
It needs to assist it to return to former track when deviateing, and is being returned from traveling that track rear vehicle can also be stablized in former vehicle
On road, the driving safety of vehicle is improved.
Above disclosed is only several preferred embodiments of the present invention, cannot limit the present invention's with this certainly
Interest field, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. a kind of method preventing deviation, which is characterized in that including：
Road image in front of collection vehicle；
The lane line in track where identifying vehicle from the road image, wherein the lane line that vehicle deviates is deviation side
Lane line；
In the inside edge of deviation side lane line, assistant interventional position is set；
When vehicle passes through the time needed for the assistant interventional position more than or equal to inclined close to the front-wheel of deviation side lane line
When from the supplemental threshold time, steering force assistant interventional is provided, vehicle is made to return to former track；
Vehicle is set to be maintained at former track and nearby be travelled close to the deviation side lane line.
2. the method according to claim 1 for preventing deviation, which is characterized in that based on image processing techniques from described
The lane line in track where identifying vehicle in road image, and calculate between the front-wheel and the inward flange of deviation side lane line
Distance and lateral direction of car deviate rate v, the inward flange for deviateing supplemental threshold time=wheel and deviation side lane line
The distance between/lateral direction of car deviation rate v；
Assistant interventional position is arranged in the inside edge in deviation side lane line, including：
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.08m±0.15m；
As the 0.1m/s<When V≤1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.8s×v±0.15m；
As V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m。
3. the method according to claim 1 or 2 for preventing deviation, which is characterized in that the offer steering force auxiliary
Before intervention, further include：
Judge whether the interval between this assistant interventional time and a preceding assistant interventional time is more than the first preset time, if
It is that steering force assistant interventional is then provided, if it is not, not providing steering force assistant interventional then.
After the offer steering force assistant interventional, further include：
Judge whether this assistant interventional duration is more than the second preset time, if so, stop providing steering force assistant interventional, if
It is no, then continue to provide steering force assistant interventional.
4. the method according to claim 3 for preventing deviation, which is characterized in that the method further includes in deviation side
The inside edge setting auxiliary of lane line fails line, the auxiliary fail line and deviation side lane line inward flange it
Between distance be more than the assistant interventional position and deviation side lane line the distance between inward flange；
When vehicle return to former track and the front-wheel pass through the auxiliary fail line when, stop providing steering assistance intervention.
5. the method according to claim 1 or 4 for preventing deviation, which is characterized in that described that vehicle is made to be maintained at former
Track and the traveling near the deviation side lane line, including：
Make vehicle rear axle center line to the distance between the inward flange of deviation side lane line be the first distance, with first distance
It is that target track trace controls vehicle, so that vehicle is maintained at deviation side lane line and nearby travel.
6. the method according to claim 1 for preventing deviation, which is characterized in that the method further includes：
When the distance between vehicle rear axle central point to the inward flange of deviation side lane line is less than 0.2 vehicle width, stop providing
Steering force assistant interventional.
7. a kind of system preventing deviation, which is characterized in that including image acquisition units, Lane detection unit, auxiliary
Position setting unit deviates assistant interventional unit and track holding unit,
Described image collecting unit, for the road image in front of collection vehicle；
The Lane detection unit, the lane line for track where identifying vehicle from the road image, wherein vehicle
Deviate lane line be deviation side lane line；
Assistant interventional position is arranged for the inside edge in deviation side lane line in the booster action line setting unit；
The deviation assistant interventional unit, for passing through the assistant interventional effect close to the front-wheel of deviation side lane line when vehicle
When time needed for line is greater than or equal to the deviation supplemental threshold time, steering force assistant interventional is provided, vehicle is made to return to former track；
The track holding unit, for making vehicle be maintained at former track and nearby being travelled close to the deviation side lane line.
8. the system according to claim 7 for preventing deviation, which is characterized in that
The Lane detection unit identifies vehicle place track for being based on image processing techniques from the road image
Lane line, and calculate the distance between the front-wheel and deviation side lane line inward flange and lateral direction of car and deviate rate v, institute
It states and deviates the distance between supplemental threshold time=wheel and the inward flange of deviation side lane line/lateral direction of car deviation rate v；
The booster action line setting unit, for deviateing rate v according to lateral direction of car, in the inside edge of deviation side lane line
Assistant interventional position is set, specially：
Work as 0m/s<When V≤0.1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.08m±0.15m；
As the 0.1m/s<When V≤1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line is
0.8s×v±0.15m；
As V ＞ 1m/s, the distance of inward flange of the assistant interventional position apart from deviation side lane line be 0.08m ±
0.15m。
9. the system according to claim 7 or 8 for preventing deviation, which is characterized in that the system also includes auxiliary
Intervention judging unit, the assistant interventional judging unit,
For before providing steering assistance and intervening, judging between this assistant interventional time and a preceding assistant interventional time
Whether interval is more than the first preset time, if so, steering assistance intervention is provided, if it is not, then stopping steering assistance intervention；
And for after intervening for steering assistance, judging whether this assistant interventional duration is more than the second preset time, if so,
Then stop steering assistance intervention, if it is not, then continuing to provide steering assistance intervention；
And for when the distance between vehicle rear axle central point to the inward flange of deviation side lane line is less than 0.2 vehicle width, stopping
Steering force assistant interventional is only provided.
10. the system according to claim 9 for preventing deviation, which is characterized in that
The booster action line setting unit is additionally operable to assist the line that fails in the inside edge setting of deviation side lane line,
Assist failing the distance between the line and the inward flange of deviation side lane line are more than the assistant interventional position and partially
The distance between inward flange from side lane line；It passes through the auxiliary when vehicle returns to former track and the front-wheel edge and stops making
When with line, stop providing steering force assistant interventional；
The track holding unit, for when vehicle returns to former track, making vehicle rear axle center line to deviation side lane line
The distance between inward flange is the first distance, controls vehicle as target track trace using first distance, vehicle is made to be maintained at
Deviation side lane line nearby travels.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292236.5A CN108437987B (en) | 2018-03-30 | 2018-03-30 | Method and system for preventing lane departure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292236.5A CN108437987B (en) | 2018-03-30 | 2018-03-30 | Method and system for preventing lane departure |
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| CN108437987B CN108437987B (en) | 2020-04-28 |
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