CN108437987B - Method and system for preventing lane departure - Google Patents
Method and system for preventing lane departure Download PDFInfo
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- CN108437987B CN108437987B CN201810292236.5A CN201810292236A CN108437987B CN 108437987 B CN108437987 B CN 108437987B CN 201810292236 A CN201810292236 A CN 201810292236A CN 108437987 B CN108437987 B CN 108437987B
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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 method and a system for preventing lane departure. The method comprises the following steps: the method comprises the steps of collecting a road image in front of a vehicle, and identifying a lane line of a lane where the vehicle is located from the road image, wherein the lane line deviated from the vehicle is a deviated side lane line, an auxiliary intervention action line is arranged at the inner edge of the deviated side lane line, and when the time required by the vehicle to pass through the auxiliary intervention action line close to a front wheel of the deviated side lane line is greater than or equal to the deviation auxiliary threshold time, steering force auxiliary intervention is provided, so that the vehicle returns to an original lane, and the vehicle is kept on the original lane and runs close to the deviated side lane line. Correspondingly, the system comprises an image acquisition unit, a lane line identification unit, an auxiliary action line setting unit, a deviation auxiliary intervention unit and a lane keeping unit. The invention can lead the vehicle returning to the original lane after the vehicle deviates to stably run on the original lane, and solves the problem of snake-shaped running of the vehicle under the control of the lane deviation auxiliary function.
Description
Technical Field
The invention relates to the technical field of intelligent driving assistance, in particular to a method and a system for preventing lane departure.
Background
For the active safety system of the automobile, the lane departure early warning system and the forward rear-end collision early warning system are more researched at present, which is determined by the main requirements in the field of the automobile safety at present. Multiple survey reports indicate that lane departure and forward-end collisions account for a significant proportion of traffic accidents, particularly on highways and some structured roads. At present, the main causes of traffic accidents can be divided into five categories, wherein lane departure accounts for 19%, forward rear-end collision accounts for 26%, and the other categories also include lane change and overtaking, traffic flow merging and the like. Therefore, the research on the lane departure early warning system is very significant.
Lane departure assistance is used by front-facing cameras at the front windshield, video imaging system based lane sideline detection to measure the distance and orientation of the vehicle relative to the left and right lane lines. Once the vehicle is unconsciously deviated from the lane and has the tendency of touching the lane line, the system provides steering control for a driver through an Electronic Power Steering (EPS) system so that the vehicle returns to the original lane. Thus, side impacts and other related accidents may be reduced. The lane departure auxiliary function is suitable for high-speed working conditions, the working speed is more than 60km/h, and the lane departure auxiliary function can be applied to road traffic sidelines of different types (solid lines, dotted lines and dotted lines) and colors (white, yellow, orange and blue).
The lane departure support function in the market at present mostly provides assistance to return the vehicle to the original lane when deviating from the original lane under the condition that the driver is unaware of, and if the driver does not take over the vehicle for a long time, the vehicle may deviate from the lane on the other side, which may cause the vehicle to snake-like run under the effect of the lane departure support function. There is a risk of collision with an adjacent lane at any time due to instability of the traveling route of the vehicle.
Patent No. CN107310553A discloses a lane departure warning method and system for preventing repeated warning of single-side departure, which can effectively solve the problem that the vehicle will give a warning when the left wheel deviates and the right wheel deviates when the vehicle deviates from the lane line on one side, but cannot solve the problem of snake-shaped driving of the vehicle by arranging a warning line, a warning ending line and an external recounting line at the lane line on one side.
In summary, in view of the safety of the automobile, the vehicle needs to be assisted to return to the original lane when the vehicle deviates, and the vehicle also needs to stably run on the original lane after returning to the original lane, so that the possible risks are reduced.
Disclosure of Invention
In view of the above, the main objective of the present invention is to provide a control method and system for preventing vehicle snaking after lane departure based on lane departure assistance function, which modifies the control strategy of the lane departure assistance function on the basis of a lane keeping assistance system, and aims to solve the problem that the vehicle snaking in the original lane when the lane departure assistance system is activated.
In order to solve the above technical problem, the present invention provides a method of preventing a lane departure, comprising:
collecting a road image in front of a vehicle;
identifying a lane line of a lane where the vehicle is located from the road image, wherein the lane line deviated by the vehicle is a deviated side lane line;
arranging an auxiliary intervention action line at the inner edge deviating from the side lane line;
when the time required by the front wheel of the vehicle approaching the lane line deviating from the side to cross the auxiliary intervention action line is greater than or equal to the time of deviating from the auxiliary threshold value, providing steering force for auxiliary intervention to enable the vehicle to return to the original lane;
the vehicle is kept on the original lane and runs near the lane line on the deviated side.
Further, a lane line of a lane where the vehicle is located is identified from the road image based on an image processing technology, and a distance between the front wheels and an inner edge of a lane line on a departure side and a vehicle lateral departure rate v are calculated, wherein the departure assistance threshold time is the distance between the wheels and the inner edge of the lane line on the departure side/the vehicle lateral departure rate v;
an auxiliary intervention action line is provided at an inner edge of the deviated side lane line, including:
when V is more than 0m/s and less than or equal to 0.1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m;
when V is more than 0.1m/s and less than or equal to 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.8 sxv +/-0.15 m;
when V is more than 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m.
Preferably, before the providing of the steering force assisting intervention, the method further comprises: and judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time, if so, providing the auxiliary intervention of the steering force, and if not, not providing the auxiliary intervention of the steering force.
After the providing of the steering force assisting intervention, the method further comprises: and judging whether the auxiliary intervention duration is longer than a second preset time, if so, stopping providing the auxiliary intervention of the steering force, and if not, continuing to provide the auxiliary intervention of the steering force.
Further, the method further comprises providing an auxiliary stopping action line at an inner edge offset from the side lane line, a distance between the auxiliary stopping action line and the inner edge offset from the side lane line being greater than a distance between the auxiliary intervention action line and the inner edge offset from the side lane line;
stopping providing steering assist intervention when the vehicle returns to the original lane and the front wheels cross the assist-stop line.
Further, the causing the vehicle to travel near the deviated lane line while keeping the original lane includes: the distance between the central line of the rear axle of the vehicle and the inner edge of the deviated side lane line is set as a first distance, and the vehicle is controlled by taking the first distance as a target track line, so that the vehicle keeps running near the deviated side lane line.
Further, the method further comprises: and stopping providing the steering force intervention when the distance between the center point of the rear axle of the vehicle and the inner edge of the deviated side lane line is less than 0.2 vehicle width.
Correspondingly, the invention also provides a system for preventing lane departure, which comprises an image acquisition unit, a lane line identification unit, an auxiliary action line setting unit, a departure auxiliary intervention unit and a lane keeping unit;
the image acquisition unit is used for acquiring a road image in front of a vehicle;
the lane line identification unit is used for identifying a lane line of a lane where the vehicle is located from the road image, wherein the lane line where the vehicle deviates is a deviation side lane line;
the auxiliary action line setting unit is used for setting an auxiliary intervention action line at the inner edge deviating from the side lane line;
the departure auxiliary intervention unit is used for providing steering force auxiliary intervention to enable the vehicle to return to the original lane when the time required by the front wheel of the vehicle approaching the departure side lane line to cross the auxiliary intervention action line is greater than or equal to the departure auxiliary threshold time;
and the lane keeping unit is used for keeping the vehicle on the original lane and enabling the vehicle to run near the lane line on the deviated side.
Further, the lane line recognition unit is configured to recognize a lane line of a lane where the vehicle is located from the road image based on an image processing technique, and calculate a distance between the front wheel and an inner edge of a lane line on a deviation side and a vehicle lateral deviation rate v, where the deviation assistance threshold time is a distance between the wheel and the inner edge of the lane line on the deviation side/the vehicle lateral deviation rate v;
the auxiliary action line setting unit is used for setting an auxiliary intervention action line at the inner edge of the deviated side lane line according to the transverse deviation speed v of the vehicle, and specifically comprises the following steps;
when V is more than 0m/s and less than or equal to 0.1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m;
when V is more than 0.1m/s and less than or equal to 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.8 sxv +/-0.15 m;
when V is more than 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m.
Further, the system also comprises an auxiliary intervention judging unit which is used for judging the intervention of the user,
before providing steering auxiliary intervention, judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time, if so, providing the steering auxiliary intervention, and if not, stopping the steering auxiliary intervention;
after the steering auxiliary intervention is performed, judging whether the auxiliary intervention duration is longer than a second preset time, if so, stopping the steering auxiliary intervention, and if not, continuing to provide the steering auxiliary intervention;
and for stopping providing the steering force intervention when a distance between a center point of a rear axle of the vehicle to an inner edge offset from a side lane line is less than 0.2 vehicle widths.
Further, the auxiliary action line setting unit is further configured to set an auxiliary stopping action line at an inner edge of the lane line, where a distance between the auxiliary stopping action line and the inner edge of the lane line on the deviation side is greater than a distance between the auxiliary intervention action line and the inner edge of the lane line on the deviation side; stopping providing steering assistance intervention when the vehicle returns to the original lane and the front wheel edge crosses the auxiliary stopping action line;
and the lane keeping unit is used for enabling the distance between the central line of the rear axle of the vehicle and the inner edge of the lane line deviating from the side to be a first distance when the vehicle returns to the original lane, and controlling the vehicle by taking the first distance as a target track line so as to enable the vehicle to keep running near the lane line deviating from the side.
The implementation of the invention has the following beneficial effects: the present invention sets an assist intervention action line, which is a condition for judging whether to intervene in steering force assist intervention (i.e., activate the departure assist function), and furthermore, the present invention may set an assist stop action line, which is a condition for judging whether to stop intervening in steering force assist intervention (i.e., exit from the departure assist function) when the vehicle returns to the original lane, and furthermore, the present invention keeps the vehicle running near the lane line with the area near the lane line as a control target when the departure assist function is activated. The invention redefines the activation and exit conditions of the lane departure auxiliary function and the characteristic that the vehicle keeps working near the lane line by taking the area near the lane line as a control target when the function is activated, solves the problem of snake-shaped running of the vehicle under the control of the lane departure auxiliary function, not only needs to assist the vehicle to return to the original lane when the vehicle departs, but also needs to stably run on the original lane after returning to the own lane, and improves the running safety of the vehicle.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a first flowchart of a lane departure prevention method of the present invention;
FIG. 2 is a second flowchart of the lane departure prevention method of the present invention;
FIG. 3 is a schematic illustration of the position configuration of the auxiliary intervention action line and the auxiliary cessation action line of the present invention;
FIG. 4 is a schematic view of the lane line modeling of the present invention;
FIG. 5 is a schematic view of the vehicle of the present invention showing a first position between the front wheel, the offset side lane line and the auxiliary intervention line;
FIG. 6 is a schematic view of a second position between the front wheels, the offset side lane lines and the auxiliary intervention line of the vehicle of the present invention;
FIG. 7 is a schematic structural diagram of the vehicle of the present invention returning to the original lane and continuing to travel while remaining in the original lane under steering force assisted intervention;
FIG. 8 is a third flowchart of the inventive method of preventing lane departure;
FIG. 9 is a fourth flowchart of the inventive method of preventing lane departure;
FIG. 10 is a schematic view of the driver's active shift configuration;
fig. 11 is a block diagram of the structure of a lane departure prevention system of the present invention.
Wherein the reference numerals in the figures correspond to: 1-deviation of a side lane line, 2-auxiliary intervention action line, 3-auxiliary stopping action line, 4-vehicle front wheels, 5-vehicle rear axle central line and 6-vehicle rear axle central point.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.
Example 1
As shown in fig. 1, the present invention discloses a method for preventing a lane departure, comprising:
and S01, acquiring a road image in front of the vehicle.
In this embodiment, an image of the road ahead of the vehicle may be acquired by the camera. Of course, steps such as noise reduction can be included to improve the sharpness of the acquired image.
S02, identifying a lane line of the lane where the vehicle is located from the road image, where the lane line where the vehicle is about to deviate or has deviated is a deviation side lane line, and determining which lane line is the deviation side lane line based on an existing method, for example, comparing a distance between the lane line and a front wheel of the vehicle with a preset distance, and determining that the lane line is the deviation side lane line when the distance between the lane line and the front wheel of the vehicle and the preset distance are smaller than the preset distance.
And S03, arranging an auxiliary intervention action line at the inner edge deviating from the side lane line.
The auxiliary intervention action line is a virtual line obtained by software calculation, is a condition for intervention by a lane departure auxiliary function when a lane deviates, is arranged at the inner edge of the lane line, and can move outwards or inwards according to actual conditions.
And S04, when the time required for the vehicle to approach the edge of the front wheel deviating from the side lane line to cross the auxiliary intervention action line is greater than or equal to the deviation auxiliary threshold time, providing steering force auxiliary intervention to enable the vehicle to return to the original lane.
This step is a step in which the deviation assist function is activated, and when the deviation assist function is activated, it indicates that the driver is in an unconscious state at that time, and if the driver is in a conscious state, the deviation assist function is not activated. For example, if the lane line on the offset side is the left lane line, the front wheel of the vehicle approaching the lane line on the offset side is the left front wheel, and if the lane line on the offset side is the right lane line, the front wheel of the vehicle approaching the lane line on the offset side is the right front wheel. The time required to cross the line of action of the auxiliary intervention can be understood as the time required for the lateral surface of the tyre of the front wheel to exceed the line of action of the auxiliary intervention.
The steering force assistance intervention in this step belongs to a lane departure assistance function in the related art, and is not particularly limited herein.
And S05, keeping the vehicle on the original lane and enabling the vehicle to run near the lane line on the deviated side.
When the vehicle returns to the original lane under the action of the activation of the departure auxiliary function, the area near the lane line is taken as a control target so that the vehicle keeps driving near the lane line.
The embodiment is provided with an auxiliary intervention action line, wherein the auxiliary intervention action line is a condition for judging whether to intervene steering force auxiliary intervention (namely activating the deviation auxiliary function) and has the characteristic that when the function is activated, the vehicle keeps working near a lane line by taking a region near the lane line as a control target, the problem of snakelike running of the vehicle under the control of the lane deviation auxiliary function is solved, the vehicle can be assisted to return to an original lane when deviating, and can stably run on the original lane after returning to the original lane, so that the running safety of the vehicle is improved.
Example 2
As shown in fig. 2, the present invention discloses another method for preventing a lane departure, including:
and S01, acquiring a road image in front of the vehicle.
In this embodiment, an image of the road ahead of the vehicle may be acquired by the camera. Of course, steps such as noise reduction can be included to improve the sharpness of the acquired image.
And S02, identifying the lane line of the lane where the vehicle is located from the road image, wherein the lane line of the lane comprises two lane lines, and the lane line where the vehicle is about to deviate or has deviated is a deviation side lane line.
And S03, arranging an auxiliary intervention action line 2 and an auxiliary stopping action line 3 at the inner edge deviated from the side lane line 1, wherein the distance between the auxiliary stopping action line and the inner edge deviated from the side lane line is greater than the distance between the auxiliary intervention action line and the inner edge deviated from the side lane line.
The auxiliary intervention action line 2 and the auxiliary stopping action line 3 are virtual lines obtained by software calculation, the auxiliary intervention action line is a condition for intervention by a lane departure auxiliary function when a lane departs, and the auxiliary stopping action line is a condition for intervention by a lane departure auxiliary function when a vehicle returns to an original lane. As shown in fig. 3, the auxiliary intervention action line and the auxiliary stopping action line are both disposed at the inner edge of the lane line deviated from the side, and may move outward or inward according to the actual situation, and the auxiliary intervention action line and the auxiliary stopping action line are generally disposed at the inner edges of the two lane lines of the lane, but may be disposed on the left side or the right side separately according to the actual requirement.
And S04, when the time required for the vehicle to approach the edge of the front wheel deviating from the side lane line to cross the auxiliary intervention action line is greater than or equal to the deviation auxiliary threshold time, providing steering force auxiliary intervention to enable the vehicle to return to the original lane.
This step is a step in which the deviation assist function is activated, and when the deviation assist function is activated, it indicates that the driver is in an unconscious state at that time, and if the driver is in a conscious state, the deviation assist function is not activated. For example, if the lane line on the offset side is the left lane line, the front wheel of the vehicle approaching the lane line on the offset side is the left front wheel, and if the lane line on the offset side is the right lane line, the front wheel of the vehicle approaching the lane line on the offset side is the right front wheel. The time to cross the line of action of the auxiliary intervention can be understood as the time required for the lateral surface of the tyre of the front wheel to exceed the line of action of the auxiliary intervention.
And S05, stopping providing the steering auxiliary intervention when the vehicle returns to the original lane and the edge of the front wheel crosses the auxiliary stopping action line.
This step is the step of exiting the intervention of the departure assistance function after the vehicle has returned to the original lane, the time of crossing the auxiliary stopping action line being understood as the time required for the outer lateral surface of the front tyre to exceed the auxiliary stopping action line.
And S06, keeping the vehicle on the original lane and enabling the vehicle to run near the lane line on the deviated side. When the vehicle returns to the original lane under the action of the activation of the departure auxiliary function, the area near the lane line is taken as a control target so that the vehicle keeps driving near the lane line.
The present invention sets an assist intervention action line, which is a condition for judging whether to intervene in steering force assist intervention (i.e., activate the departure assist function), and an assist stop action line, which is a condition for judging whether to stop intervening in steering force assist intervention (i.e., exit from the departure assist function) when the vehicle returns to the original lane, and furthermore, when the departure assist function is activated, the present invention keeps the vehicle running near the lane line with the area near the lane line as a control target. The invention redefines the activation and exit conditions of the lane departure auxiliary function and the characteristic that the vehicle keeps working near the lane line by taking the area near the lane line as a control target when the function is activated, solves the problem of snaking of the vehicle in the lane departure auxiliary function, not only can make the vehicle need to assist the vehicle to return to the original lane when the vehicle departs, but also can stably run on the original lane after returning to the own lane, and improves the running safety of the vehicle.
Example 3
As shown in fig. 8, the present embodiment discloses another lane departure prevention method, which is a further refinement of embodiment 1, and includes:
and S01, acquiring an image of the road in front of the vehicle through the camera.
The present embodiment does not limit the specific position where the camera is mounted on the vehicle.
And S02, identifying a lane line of a lane where the vehicle is located from the road image through lane line cubic curve fitting based on an image processing technology, and calculating a distance D between a front wheel close to the deviated side lane line and an inner edge of the deviated side lane line and a vehicle lateral deviation speed v, wherein the deviation auxiliary threshold time T is the distance D between the wheel and the inner edge of the deviated side lane line/the vehicle lateral deviation speed v.
In the step, the lane line is identified through the image preprocessing technology which is widely applied at present, namely, a region of interest (ROI) is extracted from the picture to carry out pixel interpolation calculation, and the current vehicle is calculated by algorithms such as edge detection and the like to obtain the distance between the current vehicle and the lane line and the parameters such as the lateral speed of the vehicle.
The lane lines are identified and a lane line model is constructed using a Clothoid model, as shown in equation 1. Where y0 represents the lateral offset from the lane line, ε represents the vehicle heading angle, C0 represents the road curvature, and C1 represents the road curvature rate of change. The specific parameters illustrate a lane line model building diagram as shown in fig. 4;
s03, according to the transverse deviation speed of the vehicle, an auxiliary intervention action line is arranged at the inner edge of the deviation side lane line, when V is smaller than 0m/S and smaller than or equal to 0.1m/S, the distance between the auxiliary intervention action line and the inner edge of the deviation side lane line is 0.08m +/-0.15 m, when V is smaller than 0.1m/S and smaller than or equal to 1m/S, the distance between the auxiliary intervention action line and the inner edge of the deviation side lane line is 0.8S multiplied by V +/-0.15 m, and when V is larger than 1m/S, the distance between the auxiliary intervention action line and the inner edge of the deviation side lane line is 0.08m +/-0.15 m.
And S041, judging whether the time T for the front wheel edge of the vehicle approaching the deviated lane line to pass through the auxiliary intervention action line is greater than or equal to T, if not, not providing auxiliary intervention of steering force, and if so, executing the next step.
Wherein t is the distance d/vehicle lateral offset rate V between the edge of the front wheel of the vehicle near the offset side lane line to the line of assistance intervention.
As shown in FIG. 5, when the front wheels 4 of the vehicle fall between the deviating side lane line 1 and the auxiliary intervention line 2, if T ≧ T, since V is equal, i.e., D ≧ D, indicating a risk of the vehicle deviating, a steering force auxiliary intervention is provided.
As shown in FIG. 6, when the vehicle front wheel 4 falls outside of the lane departure side, indicating that the vehicle has deviated out of the lane, T ≧ T, steering force assist intervention is provided.
And S042, judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time, if not, not providing the auxiliary intervention of the steering force, and if so, executing the next step.
After the previous intervention is finished, the method needs to wait for the first preset time for the next intervention, and the method does not support immediate intervention.
And S043, providing steering force for assisting intervention and returning the vehicle to the original lane.
And S044, judging whether the auxiliary intervention time is longer than a second preset time, if so, stopping providing the auxiliary intervention of the steering force, and if not, continuing providing the auxiliary intervention of the steering force.
The method in this embodiment is only an auxiliary function, which cannot be performed completely in place of a human being, i.e. it does not support long-time work and must be taken over by the driver.
S05, as shown in fig. 7, when the vehicle returns to the original lane, the distance between the vehicle rear axle center line 5 and the inner edge of the lane line 1 on the departure side is set to a first distance L, and the vehicle is controlled so as to keep running near the lane line on the departure side with the first distance L set as the target trajectory line.
The embodiment is provided with an auxiliary intervention action line, wherein the auxiliary intervention action line is a condition for judging whether to intervene steering force auxiliary intervention (namely activating the deviation auxiliary function) and has the characteristic that when the function is activated, the vehicle keeps working near a lane line by taking a region near the lane line as a control target, the snake-shaped running problem of the vehicle under the control of the lane deviation auxiliary function is solved, the vehicle can be assisted to return to an original lane when deviating, and can stably run on the original lane after returning to the original lane, so that the running safety of the vehicle is improved.
Example 4
As shown in fig. 9, the present embodiment discloses another lane departure prevention method, which is a further refinement of embodiment 2, and includes:
and S01, acquiring an image of the road in front of the vehicle through the camera.
The present embodiment does not limit the specific position where the camera is mounted on the vehicle.
And S02, identifying a lane line of a lane where the vehicle is located from the road image through lane line cubic curve fitting based on an image processing technology, and calculating a distance D between a front wheel close to the deviated side lane line and an inner edge of the deviated side lane line and a vehicle lateral deviation speed v, wherein the deviation auxiliary threshold time T is the distance D between the wheel and the inner edge of the deviated side lane line/the vehicle lateral deviation speed v.
The lane line identification, D, v, and T in this embodiment are calculated in the same manner as in embodiment 3.
S03, setting an auxiliary intervention action line at the inner edge of the deviated side lane line according to the transverse deviation speed of the vehicle, wherein when V is more than 0m/S and less than or equal to 0.1m/S, the distance from the auxiliary intervention action line to the inner edge of the deviated side lane line is 0.08m +/-0.15 m, when V is more than 0.1m/S and less than or equal to 1m/S, the distance from the auxiliary intervention action line to the inner edge of the deviated side lane line is 0.8 sxv +/-0.15 m, and when V is more than 1m/S, the distance from the auxiliary intervention action line to the inner edge of the deviated side lane line is 0.08m +/-0.15 m.
And meanwhile, an auxiliary stopping action line is arranged, and the distance between the auxiliary stopping action line and the inner edge deviating from the side lane line is greater than the distance between the auxiliary intervention action line and the inner edge deviating from the side lane line.
And S041, judging whether the time T for the front wheel edge of the vehicle approaching the deviated lane line to pass through the auxiliary intervention action line is greater than or equal to T, if not, not providing auxiliary intervention of steering force, and if so, executing the next step.
And S042, judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time, if not, not providing the auxiliary intervention of the steering force, and if so, executing the next step.
After the previous intervention is finished, the method needs to wait for the first preset time for the next intervention, and the method does not support immediate intervention.
And S043, providing steering force for assisting intervention and returning the vehicle to the original lane.
And S044, judging whether the auxiliary intervention time is longer than a second preset time, if so, stopping providing the auxiliary intervention of the steering force, and if not, continuing providing the auxiliary intervention of the steering force.
The method in this embodiment is only an auxiliary function, which cannot be performed completely in place of a human being, i.e. it does not support long-time work and must be taken over by the driver.
And S05, stopping providing the steering auxiliary intervention when the vehicle returns to the original lane and the edge of the front wheel crosses the auxiliary stopping action line.
And S06, when the vehicle returns to the original lane, enabling the distance between the central line of the rear axle of the vehicle and the inner edge of the lane line of the departure side to be a first distance L, and controlling the vehicle by taking the first distance L as a target track line so as to enable the vehicle to keep running near the lane line of the departure side.
The auxiliary intervention action line, the auxiliary stopping action line and the L in the embodiment may be set according to different vehicle models, for example, the auxiliary intervention action line may be set at a distance of 30 cm from the inner edge deviating from the side lane line, the auxiliary stopping action line may be set at a distance of 60 cm from the inner edge deviating from the side lane line, the first distance L is set to about 1m, the first preset time is set to 2.5s, the second preset time is set to 8s, and the like.
The present invention sets an assist intervention action line, which is a condition for judging whether to intervene in steering force assist intervention (i.e., activate the departure assist function), and an assist stop action line, which is a condition for judging whether to stop intervening in steering force assist intervention (i.e., exit from the departure assist function) when the vehicle returns to the original lane, and furthermore, when the departure assist function is activated, the present invention keeps the vehicle running near the lane line with the area near the lane line as a control target. The invention redefines the activation and exit conditions of the lane departure auxiliary function and the characteristic that the vehicle keeps working near the lane line by taking the area near the lane line as a control target when the function is activated, solves the problem of snake-shaped running of the vehicle under the control of the lane departure auxiliary function, not only can ensure that the vehicle needs to be assisted to return to the original lane when the vehicle departs, but also can stably run on the original lane after returning to the own lane, and improves the running safety of the vehicle.
Example 5
Unlike the above embodiments 1-4, the present embodiment adds another condition for exiting the auxiliary intervention function, namely, an exit condition for lane departure, specifically, when the distance between the center point 6 of the rear axle of the vehicle and the inner edge of the lane line on the departure side is less than 0.2 vehicle widths, it can be determined that the driver is actively making a lane change, and at this time, the steering intervention is stopped, as shown in fig. 10.
Example 6
As shown in fig. 11, the present embodiment provides a system for preventing lane departure, the system in the present embodiment, which corresponds to the method in embodiments 1 to 5, including;
the lane departure control system comprises an image acquisition unit, a lane line identification unit, an auxiliary action line setting unit, a departure auxiliary intervention unit, an auxiliary intervention judgment unit and a lane keeping unit.
The image acquisition unit is used for acquiring road images in front of the vehicle.
The lane line recognition unit is used for recognizing a lane line of a lane where the vehicle is located from the road image, wherein the lane line where the vehicle deviates is a deviation side lane line. Specifically, the method is used for identifying a lane line of a lane where a vehicle is located from the road image based on an image processing technology, and calculating the distance between a front wheel close to the lane line on the deviation side and the inner edge of the lane line on the deviation side and the lateral deviation speed v of the vehicle.
The auxiliary action line setting unit is used for setting an auxiliary intervention action line at the inner edge of the deviated side lane line according to the transverse deviation speed v of the vehicle, and specifically comprises the following steps:
when V is more than 0m/s and less than or equal to 0.1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m;
when V is more than 0.1m/s and less than or equal to 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.8 sxv +/-0.15 m;
when V is more than 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m.
The auxiliary action line setting unit is also used for setting an auxiliary stopping action line at the inner edge of the deviated side lane line, and the distance between the auxiliary stopping action line and the inner edge of the deviated side lane line is greater than the distance between the auxiliary intervention action line and the inner edge of the deviated side lane line; stopping providing steering assistance intervention when the vehicle returns to the original lane and the vehicle crosses the assistance stop line near the edge of the front wheel that deviates from the side lane line.
And the deviation auxiliary intervention unit is used for providing steering force auxiliary intervention to enable the vehicle to return to the original lane when the time required for the front wheel edge of the vehicle close to the deviated lane line to cross the auxiliary intervention action line is greater than or equal to the deviation auxiliary threshold time.
The auxiliary intervention judging unit is used for judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time before the steering auxiliary intervention is provided, if so, the steering auxiliary intervention is provided, and if not, the steering auxiliary intervention is stopped; after the steering auxiliary intervention is performed, judging whether the auxiliary intervention duration is longer than a second preset time, if so, stopping the steering auxiliary intervention, and if not, continuing to provide the steering auxiliary intervention; and for stopping providing steering force intervention when the distance between the vehicle rear axle center point and the offset side lane line inner edge is less than 0.2 vehicle widths.
The lane keeping unit is used for keeping the vehicle running near an original lane and a lane line on the departure side, and particularly used for enabling the distance between the central line of the rear axle of the vehicle and the inner edge of the lane line on the departure side to be a first distance when the vehicle returns to the original lane, controlling the vehicle by taking the first distance as a target track line and enabling the vehicle to run near the lane line on the departure side.
The embodiment of the invention has the following beneficial effects: the present invention sets an assist intervention action line, which is a condition for judging whether to intervene in steering force assist intervention (i.e., activate the departure assist function), and furthermore, the present invention may set an assist stop action line, which is a condition for judging whether to stop intervening in steering force assist intervention (i.e., exit from the departure assist function) when the vehicle returns to the original lane, and furthermore, the present invention keeps the vehicle running near the lane line with the area near the lane line as a control target when the departure assist function is activated. The invention redefines the activation and exit conditions of the lane departure auxiliary function and the characteristic that the vehicle keeps working near the lane line by taking the area near the lane line as a control target when the function is activated, solves the problem of snake-shaped running of the vehicle under the control of the lane departure auxiliary function, not only can ensure that the vehicle needs to be assisted to return to the original lane when the vehicle departs, but also can stably run on the original lane after returning to the own lane, and improves the running safety of the vehicle.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (9)
1. A method of preventing lane departure, comprising:
collecting a road image in front of a vehicle;
identifying a lane line of a lane where the vehicle is located from the road image, wherein the lane line deviated by the vehicle is a deviated side lane line;
arranging an auxiliary intervention action line at the inner edge deviating from the side lane line;
when the time required by a front wheel of the vehicle approaching the lane line deviating from the side to pass through the auxiliary intervention action line is greater than or equal to the time of deviating from the auxiliary threshold value, providing steering force auxiliary intervention to enable the vehicle to return to the original lane, wherein before the steering force auxiliary intervention is provided, whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than first preset time is judged, if yes, the steering force auxiliary intervention is provided, and if not, the steering force auxiliary intervention is not provided; after the steering force auxiliary intervention is provided, judging whether the auxiliary intervention duration is longer than a second preset time, if so, stopping providing the steering force auxiliary intervention, and if not, continuing to provide the steering force auxiliary intervention;
the vehicle is kept on the original lane and runs near the lane line on the deviated side.
2. The lane departure prevention method according to claim 1, wherein a lane line on which the vehicle is located is identified from the road image based on an image processing technique, and a distance between the front wheels and an inner edge of a lane line on a departure side and a vehicle lateral departure rate v are calculated, the departure assistance threshold time being a distance between the wheels and the inner edge of the lane line on the departure side/the vehicle lateral departure rate v;
an auxiliary intervention action line is provided at an inner edge of the deviated side lane line, including:
when V is more than 0m/s and less than or equal to 0.1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m;
when V is more than 0.1m/s and less than or equal to 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.8 sxv +/-0.15 m;
when V is more than 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m.
3. The method of preventing lane departure according to claim 1, further comprising providing an auxiliary stopping action line at an inner edge of the departure side lane line, a distance between the auxiliary stopping action line and the inner edge of the departure side lane line being greater than a distance between the auxiliary intervention action line and the inner edge of the departure side lane line;
stopping providing steering assist intervention when the vehicle returns to the original lane and the front wheels cross the assist-stop line.
4. The lane departure prevention method according to claim 3, wherein said keeping the vehicle running on an original lane and near the departure-side lane line comprises:
the distance between the central line of the rear axle of the vehicle and the inner edge of the deviated side lane line is set as a first distance, and the vehicle is controlled by taking the first distance as a target track line, so that the vehicle keeps running near the deviated side lane line.
5. The method of preventing lane departure according to claim 1, further comprising:
when the distance between the center point of the rear axle of the vehicle and the inner edge deviated from the side lane line is less than 0.2 vehicle width, the steering force assisting intervention is stopped.
6. A system for preventing lane departure is characterized by comprising an image acquisition unit, a lane line recognition unit, an auxiliary action line setting unit, a departure auxiliary intervention unit, an auxiliary intervention judgment unit and a lane keeping unit,
the image acquisition unit is used for acquiring a road image in front of a vehicle;
the lane line identification unit is used for identifying a lane line of a lane where the vehicle is located from the road image, wherein the lane line where the vehicle deviates is a deviation side lane line;
the auxiliary action line setting unit is used for setting an auxiliary intervention action line at the inner edge deviating from the side lane line;
the departure auxiliary intervention unit is used for providing steering force auxiliary intervention to enable the vehicle to return to the original lane when the time required by the front wheel of the vehicle approaching the departure side lane line to cross the auxiliary intervention action line is greater than or equal to the departure auxiliary threshold time;
the auxiliary intervention judging unit is used for judging whether the interval between the current auxiliary intervention time and the previous auxiliary intervention time is greater than a first preset time before the steering auxiliary intervention is provided, if so, the steering auxiliary intervention is provided, and if not, the steering auxiliary intervention is stopped; after the steering auxiliary intervention is performed, judging whether the auxiliary intervention duration is longer than a second preset time, if so, stopping the steering auxiliary intervention, and if not, continuing to provide the steering auxiliary intervention;
and the lane keeping unit is used for keeping the vehicle on the original lane and enabling the vehicle to run near the lane line on the deviated side.
7. The lane departure prevention system according to claim 6,
the lane line identification unit is used for identifying a lane line of a lane where a vehicle is located from the road image based on an image processing technology, and calculating a distance between the front wheels and an inner edge of a lane line on a deviation side and a vehicle transverse deviation rate v, wherein the deviation auxiliary threshold time is the distance between the wheels and the inner edge of the lane line on the deviation side/the vehicle transverse deviation rate v;
the auxiliary action line setting unit is used for setting an auxiliary intervention action line at the inner edge of the deviated side lane line according to the transverse deviation speed v of the vehicle, and specifically comprises the following steps:
when V is more than 0m/s and less than or equal to 0.1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m;
when V is more than 0.1m/s and less than or equal to 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.8 sxv +/-0.15 m;
when V is more than 1m/s, the distance of the auxiliary intervention action line from the inner edge of the side lane line is 0.08m +/-0.15 m.
8. The lane departure prevention system according to claim 7, wherein the auxiliary intervention judgment unit,
and the steering assistance device is also used for stopping providing the steering assistance intervention when the distance between the center point of the rear axle of the vehicle and the inner edge deviated from the side lane line is less than 0.2 vehicle width.
9. The lane departure prevention system according to claim 8,
the auxiliary action line setting unit is also used for setting an auxiliary stopping action line at the inner edge deviating from the side lane line, and the distance between the auxiliary stopping action line and the inner edge deviating from the side lane line is greater than the distance between the auxiliary intervention action line and the inner edge deviating from the side lane line; stopping providing the steering force auxiliary intervention when the vehicle returns to the original lane and the front wheel edge passes through the auxiliary stopping action line;
and the lane keeping unit is used for enabling the distance between the central line of the rear axle of the vehicle and the inner edge of the lane line deviating from the side to be a first distance when the vehicle returns to the original lane, and controlling the vehicle by taking the first distance as a target track line so as to enable the vehicle to keep running near the lane line deviating from the side.
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| US20200240091A1 (en) * | 2019-01-24 | 2020-07-30 | Toyota Motor Engineering & Manufacturing North America, Inc. | Grass surrogate |
| CN110239513B (en) * | 2019-05-07 | 2021-03-09 | 浙江吉利控股集团有限公司 | Self-adaptive lane keeping system and method |
| CN111674403B (en) * | 2020-05-12 | 2021-12-07 | 坤泰车辆系统（常州）有限公司 | Control method for passing in and out of curve by lane centering auxiliary function of automatic driving system |
| CN112606844B (en) * | 2020-12-28 | 2022-11-04 | 联创汽车电子有限公司 | LDW repeated alarm suppression method, controller, system and storage medium |
| CN113619579A (en) * | 2021-09-08 | 2021-11-09 | 东风汽车集团股份有限公司 | Control method for realizing emergency lane keeping function of multi-lane scene |
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