CN108630014A - A kind of lane deviates early warning system and method - Google Patents
A kind of lane deviates early warning system and method Download PDFInfo
- Publication number
- CN108630014A CN108630014A CN201810440063.7A CN201810440063A CN108630014A CN 108630014 A CN108630014 A CN 108630014A CN 201810440063 A CN201810440063 A CN 201810440063A CN 108630014 A CN108630014 A CN 108630014A
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- Prior art keywords
- lane
- early warning
- ldw
- signal
- camera
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
A kind of lane deviates early warning system and method.Its composition includes:Camera, the camera input speed, and rain brush switch before camera connection, preceding rain brush switch starts YawRate02 velocities of rotation and turn signal state.The present invention deviates early warning for lane.
Description
Technical field：
The present invention relates to a kind of lanes to deviate early warning system and method.
Background technology：
Runway deviates early warning, it is not intended to runway deviate and cause accident in most high speed.
The prior art is responsible for using FCM, is alerted according to lane information generation LDW and sends LDW warnings, mode of operation is given
ADAS modules, ADAS modules are responsible for;It is different from driver's interaction decision that different functions is executed using lane information and early warning
Function switch.
The prior art use ttc threshold values for judge pre-warning signal, i.e., when this spacing travel direction minimum distance vehicle away from
From divided by two vehicle relative velocities be less than ttc threshold values when trigger pre-warning signal;Prior art construction system is too simple, does not account for
To the various situations in reality, need to improve.
Existing lane method for early warning is too simple, can not adapt to complicated actual scene.
Invention content：
The object of the present invention is to provide a kind of runways to deviate pre- police sound and vibration reminding driver, and is not to replace driving
The person of sailing controls a kind of lane of the automobile in lane and deviates early warning system and method.
Above-mentioned purpose is realized by following technical scheme：
A kind of lane deviation early warning system, composition include:Camera, the camera input speed, the camera shooting
Rain brush switch before head connection, preceding rain brush switch start YawRate02 velocities of rotation and turn signal state.
A kind of lane deviates early warning system, and the camera exports left row track invalid signals, left side
Pre-warning signal, right side runway invalid signals, right side pre-warning signal, left side steering modulating signal, right hand steering modulating signal, early warning are opened
Open signal, speed signal occurs less than the mistake of LDW threshold signals, single line running signal, the detection of influence lane and LDW.
A kind of lane deviates early warning system, and for FCM by the LDW fuction outputs of camera, left lateral fare is pre-
It is alert, right lateral fare early warning, LDW function open signals, the multi-functional unripe reasons of LDW.
A kind of lane deviates the method for early warning system, and LDW system acquires lane line and vehicle yaw angle by FCM
Information, and it is by the speed of CAN bus collection vehicle, turn signal state, wiper status information that the progress of collected information is whole
Conjunction is handled, and is detected tracking to lane line later and is judged the validity of lane line, judges errorless laggard driving in lane line
The calculating of road dispersed parameters is estimated, and starts to alarm when meeting alert if.
Advantageous effect：
1. present invention can apply in actual adas products, for this system in various road conditions, weather conditions have good performance,
By the test of a large amount of professions, other enterprise products, including international monopoly giant are compared, is had a clear superiority.
Description of the drawings：
Attached drawing 1 is the LDW system workflow schematic diagram of this product.
Attached drawing 2 is the LDW system activation failure lane width threshold figure of this product.
Attached drawing 3 is the LDW system activation failure speed threshold figure of this product.
Attached drawing 4 is the entry condition of each state of this product and the CAN message table 1 of output.
Attached drawing 5 is the LDW system work flow diagram of this product.
Attached drawing 6 is the LDW system self-test flow chart of this product.
Attached drawing 7 is the LDW system RTA states and NRTA state transition state machine figures of this product.
Attached drawing 8 is the calibrating parameters list 2 of this product.
Specific implementation mode：
Below in conjunction with the attached drawing of the present invention, technical scheme in the embodiment of the invention is clearly and completely described.
Embodiment 1：
A kind of lane deviation early warning system, composition include:Camera, the camera input speed, the camera shooting
Rain brush switch before head connection, preceding rain brush switch start YawRate02 velocities of rotation and turn signal state.
Embodiment 2：
A kind of lane described in embodiment 1 deviates early warning system, and the camera exports left row track invalid signals, a left side
Side pre-warning signal, right side runway invalid signals, right side pre-warning signal, left side turn to modulating signal, right hand steering modulating signal, early warning
There is signal less than the mistake of LDW threshold signals, single line running signal, the detection of influence lane and LDW in open signal, speed.
Embodiment 3：
A kind of lane described in embodiment 1 deviates early warning system, and FCM passes through the LDW fuction outputs of camera, left lateral fare
Early warning, right lateral fare early warning, LDW function open signals, the multi-functional unripe reasons of LDW.（A speeds are less than the minimum speeds of LDW
B left row fares are not detected lane on the right side of c and d detection uniline fares are not detected）, LDW is suppressed reason（A turning velocities are big
In threshold value（Lane-change）It is more than threshold value that b left steering lamps, which open c right turn lamps and open d braking vanes to step on e throttle acceleration,）, FCM
Export following signals lamp：The appearance of some mistakes can influence runway detection and LDW applications.
Embodiment 4：
A kind of lane deviates the method for early warning system, and LDW system acquires the information at lane line and vehicle yaw angle by FCM,
And collected information is carried out at integration by the speed of CAN bus collection vehicle, turn signal state, wiper status information
Reason, is detected tracking to lane line later and judges the validity of lane line, judge that errorless laggard runway is inclined in lane line
Calculating from parameter is estimated, and starts to alarm when meeting alert if.
Embodiment 5：
A kind of lane described in above-described embodiment deviates the method for early warning system, and data validity judges, in order to prevent system
Frequent switching and startup need to increase lag parameter appropriate to enhance the validity of data and improve the robustness of system.
1. lane width Effective judgement, lane width be appropriately determined be LDW system start a prerequisite.By
In the otherness of Chinese road conditions graticule, this system is only detecting that vehicle both sides track exists simultaneously, and the track of vehicle traveling
It, just can activation system after width meets certain condition i.e. lane width Effective judgement passes through.Lane width is arranged in this system
MIN_LANE_WIDTH default values are 3m, and lane markings width MIN_MARKER_WIDH default values are 10cm；When detecting track
When width adds 20cm more than MIN_LANE_WIDTH width, LDW system activation, when lane width is less than MIN_LANE_WIDTH wide
Thrashing when spending；Intermediate interdigitated region does not change original state.
2. speed Effective judgement, an activation condition of the speed as LDW system, in order to avoid frequent activation system
Its Effective judgement no less important；With should speed be higher than SPEED_TURN_ON（60km/h）, LDW system is activated, vehicle is worked as
Speed is less than SPEED_TURN_OFF（55km/h）When, LDW system failure；Intermediate interdigitated region does not change original state.
Embodiment 5：
A kind of lane described in above-described embodiment deviates the method for early warning system, and LDW system working condition, FCM is in vehicle point
It is powered on after fire, starts LDW system；It is divided into 4 working condition difference by self-test and the detection of external input information
It is Disable states, NRTA states, RTA states and WRN states, the entry condition of each state and the CAN message of output
As shown in table 1.
Embodiment 6：
A kind of method of lane deviation early warning system described in above-described embodiment, LDW system workflow, as shown in Fig. 5,
FCM modules proceed by LDW system self-test after vehicle igniting, if self-test not over continuing to execute self-test, if from
Inspection waits for RTA activation conditions to generate by entering NRTA states, in NRTA cycle of states, and it is discontented to be performed simultaneously System self-test function
Corresponding state is jumped to when sufficient NRTA states；RTA activation conditions meet in NRTA recycles waiting process, and system enters RTA shapes
State waits for vehicle warning condition to generate, is performed simultaneously self-checking function and is unsatisfactory for jumping to phase when RTA states in RTA cycle of states
State is answered, WRN conditions meet in RTA recycles waiting process, and system sends out T_WRNs alarms, and system enters after alarm
RTA states, if System self-test discovery is unsatisfactory for RTA states and equally jumps to corresponding state；Entire program is until system power failure
It moves in circles always.
Embodiment 7：
A kind of lane described in above-described embodiment deviates the method for early warning system, and 1. System self-test is for example attached for LDW system sub-process
Shown in Fig. 6,2. NRTA is converted with RTA states, and after a System self-test passes through, into NRTA states, cycle waits for the activation item of RTA
Part, while self-checking function is executed always.
The activation condition of state is as follows：
ü system detectios are to from vehicle both sides clearly lane line；
ü LDW lane widths are effective；
ü speeds >=SPEED_TURN_ON；
B systems when above three condition is unsatisfactory for enter NRTA states.
In entire state conversion process, system can periodically execute self-checking function, while enter corresponding state.
3. LDW warning activation, LDW system immediately will send out alarm acoustical signal when following conditions are set up simultaneously, report
It is T_WRN seconds a length of when alert.
Apart from last time alarm T_WRN_SUPPRESS s, this value can demarcate, the anti-locking system of this parameter is arranged and frequently alarms；
It is not turned on side steering indicating light installed；
Vehicle is moved to the left, and right wheel is apart from traffic lane line inside≤warning_line_tlc m；Vehicle moves right, revolver away from
From traffic lane line inside≤warning_line_tlc m；Or time≤TLC that lateral distance and lateral velocity calculate；Target
State be distance of the wheel on the inside of lane line be 0 when start to alarm；Basic function is first realized according to the algorithm at present, specifically
Parameter real vehicle is demarcated；In entire state conversion process, system can periodically execute self-checking function, while enter corresponding state.
4. LDW warnings inhibit, LDW system will failure under the conditions of following arbitrary.When LDW warnings are being alarmed to driver
When, once rejection condition activates, LDW system alarm will stop；
Lane detection disabler；
Lane width≤MIN_LANE_WIDTH；
Speed≤SPEED_TURN_OFF；
It is operated t_ind_suppress seconds apart from steering indicating light；
It opens with side steering indicating light installed.
In entire state conversion process, system can periodically execute self-checking function, while enter corresponding state.
Claims (4)
1. a kind of lane deviates early warning system, composition includes:Camera, it is characterized in that:The camera inputs vehicle
Speed, rain brush switch before camera connection, preceding rain brush switch start YawRate02 velocities of rotation and steering indicating light shape
State.
2. a kind of lane according to claim 1 deviates early warning system, it is characterized in that:The camera output left side
Runway invalid signals, left side pre-warning signal, right side runway invalid signals, right side pre-warning signal, left side turn to modulating signal, the right side
Side steering indicating light installed signal, early warning open signal, speed less than LDW threshold signals, single line running signal, influence lane detection and
There is signal in the mistake of LDW.
3. a kind of lane according to claim 1 deviates early warning system, it is characterized in that:The LDW work(that FCM passes through camera
It can export, left lateral fare early warning, right lateral fare early warning, LDW function open signals, the multi-functional unripe reasons of LDW.
4. a kind of lane deviates the method for early warning system, it is characterized in that:LDW system acquires lane line by FCM and vehicle is inclined
It navigates the information at angle, and by the speed of CAN bus collection vehicle, turn signal state, wiper status information by collected information
Carry out integration processing, tracking is detected to lane line later and judges the validity of lane line, lane line judge it is errorless after
The calculating for carrying out deviation parameter is estimated, and starts to alarm when meeting alert if.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810440063.7A CN108630014A (en) | 2018-05-10 | 2018-05-10 | A kind of lane deviates early warning system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810440063.7A CN108630014A (en) | 2018-05-10 | 2018-05-10 | A kind of lane deviates early warning system and method |
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| CN108630014A true CN108630014A (en) | 2018-10-09 |
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| CN201810440063.7A Pending CN108630014A (en) | 2018-05-10 | 2018-05-10 | A kind of lane deviates early warning system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109270923A (en) * | 2018-11-05 | 2019-01-25 | 安徽江淮汽车集团股份有限公司 | The real vehicle of LDW controller is in ring test method and system |
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| CN1611399A (en) * | 2003-10-31 | 2005-05-04 | 日产自动车株式会社 | Lane departure prevention apparatus |
| CN103052976A (en) * | 2011-06-08 | 2013-04-17 | 丰田自动车株式会社 | Lane departure avoidance assistance device, separator display method, and program |
| CN103523013A (en) * | 2012-07-03 | 2014-01-22 | 歌乐株式会社 | Lane departure warning device |
| CN103832357A (en) * | 2012-11-23 | 2014-06-04 | 深圳华一汽车科技有限公司 | Lane departure warning system and method based on machine vision |
| CN104742912A (en) * | 2013-12-27 | 2015-07-01 | 比亚迪股份有限公司 | Lane deviation detection method and device |
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2018
- 2018-05-10 CN CN201810440063.7A patent/CN108630014A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1611399A (en) * | 2003-10-31 | 2005-05-04 | 日产自动车株式会社 | Lane departure prevention apparatus |
| CN103052976A (en) * | 2011-06-08 | 2013-04-17 | 丰田自动车株式会社 | Lane departure avoidance assistance device, separator display method, and program |
| CN103523013A (en) * | 2012-07-03 | 2014-01-22 | 歌乐株式会社 | Lane departure warning device |
| CN103832357A (en) * | 2012-11-23 | 2014-06-04 | 深圳华一汽车科技有限公司 | Lane departure warning system and method based on machine vision |
| CN104742912A (en) * | 2013-12-27 | 2015-07-01 | 比亚迪股份有限公司 | Lane deviation detection method and device |
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| CN109270923A (en) * | 2018-11-05 | 2019-01-25 | 安徽江淮汽车集团股份有限公司 | The real vehicle of LDW controller is in ring test method and system |
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Application publication date: 20181009 |
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