CN108725447A - Driving condition alarming method for power and its system - Google Patents
Driving condition alarming method for power and its system Download PDFInfo
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- CN108725447A CN108725447A CN201710254615.0A CN201710254615A CN108725447A CN 108725447 A CN108725447 A CN 108725447A CN 201710254615 A CN201710254615 A CN 201710254615A CN 108725447 A CN108725447 A CN 108725447A
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- vehicle
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Abstract
A kind of driving condition alarming method for power of present invention offer and its system.The storage data step of driving condition alarming method for power is to provide database storage vehicle shift state model and apart from threshold values.Image identification step is pick-up image picture data, and goes out lane line by image frame data identification.Speed judgment step is to judge the actual vehicle speed of vehicle.Crimping judgment step is to provide an operation processing unit and judges whether vehicle is pressed onto lane line according to image frame data.Consciousness judgment step is the degrees of offset using operation processing unit according to image frame data operation vehicle, and whether the degrees of offset for comparing vehicle is more than apart from threshold values, be unconscious changing Lane to judge to drive.Whereby, installation can be kept eased without using indicator arrangement for detecting, and can operation judge drive have unconscious changing Lane, the state of mind and provide warning.
Description
Technical field
The present invention relates to a kind of driving condition alarming method for power and its systems, need not use direction lamp especially with regard to one kind
Arrangement for detecting, which can determine whether to drive, unconscious changing Lane and the driving condition alarming method for power and its system of the state of mind.
Background technology
It with Progress & New Products, is well off, popularity rate of the vehicle in each family greatly improves, and is used however as vehicle
It is frequent, traffic accident increases therewith, wherein because drive the state of mind it is bad due to cause trouble more account for it is therein large, such as fatigue
Driving or drunk driving etc..When the state of mind is bad, when driving turning can not instant steering wheel rotation or even linear road also may be used
It can make vehicle shift because steering wheel loosens.
Being currently known in technology has a kind of lane bias alarm system, and whether meeting detecting vehicle travels among track, if
Vehicle shift lane center can propose warning message.However, when driving the vehicle shift track caused by inwholwe-hearted or tired, though
Right lane bias alarm system can remind driving vehicle to deviate, but can cause to drive and depend on this system unduly, therefore regular
It is tired or do not drive attentively, or even get used to alarming sound and be easy to ignore, improve instead dangerous.
In addition there is a kind of known driving condition caution system, bonding position lamp arrangement for detecting is so as to judging to drive instantly
Whether conscious changing Lane, be intended to without changing Lane and vehicle shift track is more than preset times if driving, system can carry
Go out to warn message.However, this system needs additional increase or link direction lamp arrangement for detecting, additional connection is needed when mounted
Set and be added significantly to the complexity of installation procedure.
It follows that lacking one kind currently on the market without extra means, simple to install and can reach detecting driving transformation
The driving condition alarming method for power and its system that track is intended to, therefore related dealer is seeking its solution.
Invention content
It therefore, can be without using side the purpose of the present invention is to provide a kind of driving condition alarming method for power and its system
To lamp detect under conditions of, through image capture unit obtain picture, operation and judge drive have unconscious changing Lane with
And its state of mind, and corresponding warning is provided and informs driving.Since the present invention is not necessarily to additional indicator arrangement for detecting, no
But simple to install, and detecting can be reached and drive the effect of changing Lane is intended to, it solves known technology and needs additional increase
The shortcomings that indicator arrangement for detecting and problem.
An embodiment of an aspect provides a kind of driving condition alarming method for power according to the present invention, is the movement by vehicle
Path come judge drive the state of mind.This driving condition alarming method for power includes storage data step, an image identification step, vehicle
Fast judgment step, crimping judgment step and consciousness judgment step.Wherein storage data step is to provide database storage vehicle
Shift state model with apart from threshold values.Image identification step is to provide an image capture unit pick-up image picture data, and by
Image frame data identification goes out the lane line in the track that vehicle is advanced at present.Furthermore speed judgment step is to provide a speed and picks
Device is taken to judge the actual vehicle speed of vehicle whether more than a preset vehicle speed.If it is not, then entering system disability step, and re-execute
Image identification step.Crimping judgment step is to provide an operation processing unit and judges whether vehicle is pressed onto according to image frame data
Lane line.If it is not, then re-executing image identification step.In addition, consciousness judgment step is to utilize operation processing unit foundation shadow
As the degrees of offset of picture data operation vehicle, and whether the degrees of offset for comparing vehicle is more than apart from threshold values, to judge to drive
Whether it is unconscious changing Lane, if it is not, then re-executing image identification step.
Whereby, driving condition alarming method for power of the invention can be picked under the situation detected without using indicator through image
The picture for taking device to obtain, operation simultaneously judges that driving has unconscious changing Lane and its state of mind, and provides corresponding
Driving is informed in warning.
The other embodiment of aforementioned embodiments is as follows:Aforementioned driving condition alarming method for power may include that a driving condition is estimated
Step, this driving condition estimation step are using operation processing unit according to image frame data operation output vehicle shift track
When at least one offset speed, and the spiritual shape for speed will be deviated with vehicle shift state model being compared and estimating driving
State.In addition, aforementioned track can extend towards Y direction.Vehicle shift state model includes first lane center offset, second
Lane center offset, the first shift time and the second shift time.Wherein it is inclined to represent vehicle for first lane center offset
It moves lane center and the second position is moved to by first position, and first position projects to X-direction with the second position and is separated by
Distance.Second lane center offset represents vehicle and revert to lane center and be moved to the third place by the second position, and
The second position projects separated by a distance to X-direction institute with the third place.First shift time represents vehicle and is moved by first position
It moves to the time of the second position.Second shift time represents the time that vehicle is moved to the third place by the second position.Deviate vehicle
Speed is according to first lane center offset, second lane center offset, the first shift time and the second shift time operation
It acquires.Furthermore in aforementioned crimping judgment step, when vehicle is not pressed onto lane line, it is inclined that operation processing unit sets a track
It is 0 to move alarm signal, and lane bias alarm signal is stored into database;Conversely, when vehicle is pressed onto lane line, operation
Processing unit sets lane bias alarm signal as 1, and lane bias alarm signal is stored into database.In addition, preceding
It states in consciousness judgment step, when one between vehicle and lane line is less than beyond lane line distance apart from threshold values, calculation process
Unit sets a changing Lane signal as 0, and changing Lane signal is stored into database;Conversely, when beyond lane line away from
From more than or equal to a distance from when threshold values, operation processing unit sets changing Lane signal as 1, and changing Lane signal is stored to number
According in library.In addition, in aforementioned consciousness judgment step, when lane bias alarm signal is 1 and changing Lane signal is 0, operation
Processing unit judges to drive for unconscious changing Lane.When lane bias alarm signal is 1 and changing Lane signal is 1, fortune
Processing unit is calculated to judge to drive for conscious changing Lane.
Furthermore aforementioned preset vehicle speed can be 60 kilometers of speed per hour, and be equal to 50 centimeters apart from threshold values.In addition, aforementioned first vehicle
Road center offset divided by the available first offset speed of the first shift time, and second lane center offset divided by second is partially
Shift time obtains the second offset speed.When vehicle shift lane center and the first offset speed is less than 50 centimeters per second and vehicle
It revert to lane center and the second offset speed is when being also smaller than 50 centimeters per second, then it is accidentally to deviate to define driving condition.When
Vehicle shift lane center and the first offset speed are less than 50 centimeters per second and vehicle revert to lane center and the second offset
When speed is more than 50 centimeters per second, then it is not drive attentively to define driving condition.When vehicle shift lane center and the first offset
When speed is more than 50 centimeters per second and vehicle revert to lane center and the second offset speed is less than 50 centimeters per second, then define
Driving condition is not attentively driving or fatigue driving.When vehicle shift lane center and the first offset speed is more than 50 centimeters per second
And vehicle revert to lane center and second offset speed also be more than 50 centimeters per second when, then define driving condition and driven for fatigue
It sails.Driving condition above-mentioned can be by the driving condition signal set by operation processing unit according to driving condition and consciousness above-mentioned
Judging result, in due course positive or negative points, and provide warning according to score.In addition, aforementioned driving condition alarming method for power may include a warning
Step is to provide an alarming device and shows or lane bias alarm signal, changing Lane signal is audibly presented or drives
Sail status signal.
An embodiment of another aspect provides a kind of driving condition caution system according to the present invention, and it includes image captures
Device, speed capture device, database and operation processing unit.Wherein image capture unit pick-up image picture data.Vehicle
Fast capture device judges whether the actual vehicle speed of vehicle is more than preset vehicle speed.Database stores vehicle shift state model and distance
Threshold values.In addition, operation processing unit signal connection image capture unit, speed capture device and database, and calculation process list
Member includes a lane line detecting module, a crimping detecting module and a changing Lane detecting module.Wherein lane line detects mould
Block receives image frame data and picks out the lane line in the track that vehicle is advanced at present.Crimping detecting module receives image frame
Data simultaneously judge whether vehicle is pressed onto lane line.Image frame data are then received as changing Lane detecting module and according to image
The degrees of offset of picture data operation vehicle, and whether the degrees of offset for comparing vehicle is more than to be to judge to drive apart from threshold values
No is unconscious changing Lane.
Whereby, driving condition caution system of the invention is not necessarily to additional indicator arrangement for detecting, not only simple to install, and
And detecting can be reached and drive the effect of changing Lane is intended to, it solves known technology and needs additionally to increase indicator arrangement for detecting
The shortcomings that and problem.
The other embodiment of aforementioned embodiments is as follows:Foregoing operation processing unit may include driving condition scoring mould
Block, this driving condition grading module will deviate speed and vehicle shift according to image frame data operation output offset speed
State model is compared and estimates the state of mind of driving.In addition, aforementioned driving condition caution system may include a warning
Device, this alarming device signal connects operation processing unit, and alarming device is shown or lane bias alarm is presented in voice mode
Signal, changing Lane signal or driving condition signal.
Description of the drawings
Fig. 1 is the schematic diagram of vehicle shift in the driving condition alarming method for power for be painted one embodiment of the invention;
Fig. 2 is the flow diagram for the driving condition alarming method for power for being painted one embodiment of the invention;
Fig. 3 is the block schematic diagram for the driving condition caution system for being painted the driving condition alarming method for power for implementing Fig. 2;
Fig. 4 A are the vectorial schematic diagrames of vehicle shift in the driving condition alarming method for power for be painted Fig. 1;
Fig. 4 B are the schematic diagrames for being painted vehicle of the present invention and being calculated at a distance from lane line;
Fig. 5 is the signal schematic representation for being painted the driving condition caution system of Fig. 3 when driving in unconscious changing Lane;
Fig. 6 is the signal schematic representation for being painted the driving condition caution system of Fig. 3 when driving in conscious changing Lane;
Fig. 7 is the flow diagram for the driving condition alarming method for power for being painted another embodiment of the present invention;
Fig. 8 is the block schematic diagram for the driving condition caution system for being painted the driving condition alarming method for power for implementing Fig. 7.
Specific implementation mode
The following drawings illustrate multiple embodiments of the present invention.As clearly stated, the details in many practices
It will be explained in the following description.It should be appreciated, however, that the details in these practices is not applied to limit the present invention.Also
It is to say, in section Example of the present invention, the details in these practices is non-essential.In addition, for the sake of simplifying attached drawing, some
Known usual structure will be painted in a manner of simply illustrating in the accompanying drawings with element;And the element repeated will likely use phase
Same number indicates.
Also referring to Fig. 1~6.Fig. 1 is vehicle in the driving condition alarming method for power 100 for be painted one embodiment of the invention
The schematic diagram of 110 offsets.Fig. 2 is the flow diagram for the driving condition alarming method for power 100 for being painted one embodiment of the invention.Fig. 3
It is the block schematic diagram for the driving condition caution system 200 for being painted the driving condition alarming method for power 100 for implementing Fig. 2.Fig. 4 A are to paint
The vectorial schematic diagram that vehicle 110 deviates in the driving condition alarming method for power 100 of diagram 1.Fig. 4 B be painted vehicle of the present invention 110 with
The schematic diagram that the distance, delta X of lane line 104 is calculated.Fig. 5 is to be painted the driving condition caution system 200 of Fig. 3 driving in unintentionally
Know signal schematic representation when changing Lane 102.Fig. 6 is to be painted the driving condition caution system 200 of Fig. 3 to drive in conscious change
Change trains 102 when signal schematic representation.As shown, driving condition alarming method for power 100 is the mobile route by vehicle 110
120 come judge drive the state of mind, this driving condition alarming method for power 100 is to be subject to reality through driving condition caution system 200
It is existing.Driving condition alarming method for power 100 includes storage data step S11, image identification step S12, speed judgment step S13, is
System disability step S132, crimping judgment step S14, driving condition reply mechanism step S142, consciousness judgment step S15 and police
Show step S16.
Storage data step S11 is to provide database 230 and stores vehicle shift state model, apart from threshold values Δ XTHAnd it is pre-
If speed.In detail, vehicle shift state model includes first lane center offset x1, second lane center offset
X2, the first shift time t1 and the second shift time t2.Wherein first lane center offset x1 represents vehicle 110 and deviates vehicle
Road center and second position B is moved to by first position A, and first position A is projected to X-direction with second position B and is separated by
Distance.Second lane center offset x2 represents vehicle 110 and revert to lane center and be moved to third position by second position B
Set C, and second position B and the third place C project it is separated by a distance to X-direction institute.Furthermore the first shift time t1 represents vehicle
110 are moved to the time of second position B by first position A.Second shift time t2 represents vehicle 110 and is moved by second position B
It moves to the time of the third place C.First offset speedWith the second offset speedIt is respectively according to first lane off-centring
Amount x1, the first shift time t1 and second lane center offset x2, the second shift time t2 operations are acquired, wherein first is inclined
Move speedFirst lane center offset x1 divided by the obtained offset speeds of the first shift time t1 are represented, that is,And the second offset speedIt then represents obtained by second lane center offset x2 divided by the second shift time t2
The offset speed arrived, that is,In addition, preset vehicle speed is more than or equal to 60 kilometers of speed per hour, apart from threshold values Δ XTHIt is more than
Equal to 30 centimeters and it is less than or equal to 150 centimeters;And the preset vehicle speed of the present embodiment is 60 kilometers of speed per hour, and apart from threshold values Δ XTHDeng
In 50 centimeters.Certainly, these setting values can be adjusted change according to the demand of setting person, to meet actual application.
Image identification step S12 is to provide 210 pick-up image picture data of image capture unit, and by image frame data
Pick out the lane line 104 in the track 102 that vehicle 110 is advanced at present.In detail, image capture unit 210 is by image frame
Data transmission to the lane line detecting module 242 of operation processing unit 240, then lane line detecting module 242 can utilize image
Image frame data identification is gone out the lane line 104 in the track 102 that vehicle 110 is advanced at present by identification algorithm.Since image is distinguished
Know algorithm to be known technology, therefore details repeats no more.It will be stored in database 230 as the location coordinate of lane line 104
In, so that subsequent step uses.
Speed judgment step S13 is to provide speed capture device 220 and judges whether the actual vehicle speed of vehicle 110 is pre- more than one
If speed.If it is not, i.e. actual vehicle speed is not above preset vehicle speed, then the system disability as described in system disability step S132, and return
It is re-executed to image identification step S12;Conversely, if so, i.e. actual vehicle speed has been more than preset vehicle speed, then executes crimping and judge step
Rapid S14.
Crimping judgment step S14 is to provide the crimping detecting module 244 of operation processing unit 240 according to image frame data
Judge whether vehicle 110 is pressed onto lane line 104.Shape is driven if it is not, then entering as described in driving condition replys mechanism step S142
State replys mechanism, and returns to image identification step S12 and re-execute;Conversely, if so, executing consciousness judgment step S15.In detail
Ground is said, in crimping judgment step S14, when vehicle 110 is not pressed onto lane line 104, operation processing unit 240 sets a track
Bias alarm signal LDF is 0.In addition, when vehicle 110 is pressed onto lane line 104, operation processing unit 240 sets lane shift
Alarm signal LDF is 1, as shown in the trigger point R1 of Fig. 5 and Fig. 6.Aforementioned lane bias alarm signal LDF can be stored to data
In library 230, and this lane bias alarm signal LDF can be considered " lane shift flag ", represent whether vehicle 110 is pressed onto track
Line 104.In addition, in Fig. 5 and Fig. 6, distance, delta X represents the distance between vehicle 110 and lane line 104.Lane bias alarm
The duration that signal LDF is 1 is defined as changing Lane and detects time LCDT, and the size that this changing Lane detects time LCDT can
It is determined by setting person.
Consciousness judgment step S15 is the changing Lane detecting module 246 using operation processing unit 240 according to image frame
The degrees of offset of data operation vehicle 110, and whether the degrees of offset for comparing vehicle 110 is more than apart from threshold values Δ XTH, to judge
Whether driving is unconscious changing Lane 102.If it is not, then entering driving condition as described in driving condition replys mechanism step S142
Reply mechanism, and return to image identification step S12 and re-execute;Conversely, if so, executing alert stage S16.In detail,
In realizing judgment step S15, when one between vehicle 110 and lane line 104 is less than beyond lane line distance apart from threshold values Δ
XTHWhen, operation processing unit 240 sets a changing Lane signal LCF as 0.Conversely, when beyond lane line distance be more than or equal to away from
From threshold values Δ XTHWhen, operation processing unit 240 sets changing Lane signal LCF as 1, as shown in the trigger point R2 of Fig. 6.Aforementioned change
The signal LCF that changes trains can be stored in database 230, and this changing Lane signal LCF can be considered " changing Lane flag ",
Represent vehicle 110 whether changing Lane 102.Furthermore setting person can utilize operation processing unit 240 to set a driving condition signal
DSN is 100%, and driving condition signal DSN is the corresponding state of mind driven.When lane bias alarm signal LDF is 1 and is converted
When track signal LCF is 0, driving condition signal DSN is deducted a default deduction of points numerical value and judges to drive by operation processing unit 240
For unconscious changing Lane 102, as shown in the trigger point R3 of Fig. 5.This unconscious changing Lane 102 is defined as driving because not special
The heart, all of a sudden god and be accidentally pressed onto lane line 104, the opal heard lane bias alarm sound suddenly or be pressed onto on lane line 104
Stone generates vibrations and moment returns god, then vehicle 110 is opened back to the process in former track 102.In addition, working as lane bias alarm signal
When LDF is 1 and changing Lane signal LCF is 1, operation processing unit 240 maintains driving condition signal DSN and judges to drive to have
Changing Lane 102 is realized, as shown in the trigger point R3 of Fig. 6.This conscious changing Lane 102, which is defined as driving determination, will become and change trains
Road 102, and operating and controlling vehicle 110 is steadily converted towards neighbouring track 102, usually along with the startup of indicator.
Alert stage S16 is to provide an alarming device 250 and shows lane bias alarm signal LDF, changing Lane signal LCF
Or driving condition signal DSN.Whereby, it analyzes estimation driving condition through the path of the offset of vehicle 110 and has unconscious change
It changes trains 102, and the data for driving quantization, figure or sound warning is provided, driving is allowed to know that the state of mind of oneself is suitable immediately
Be not suitable for being further continued for driving.Furthermore the present invention can detect without additional indicator arrangement for detecting and drive changing Lane 102
It is intended to, therefore simple to install, it solves known technology and needs additional increase indicator arrangement for detecting to distinguish lacking for changing Lane 102
Point and problem.
Fig. 3 is the driving condition caution system 200 for being painted the present invention, this driving condition caution system 200 is set to driving
Among logger, to recognize and judge 110 front of vehicle and neighbouring 102 situation of track.Driving condition caution system 200 wraps
Containing image capture unit 210, speed capture device 220, database 230, operation processing unit 240 and alarming device 250.Its
Middle image capture unit 210 is pick-up image picture data, towards 110 front of vehicle, i.e. towards Y direction.Image is picked
It can be camera (Camera) to take device 210.And speed capture device 220 is to judge whether the actual vehicle speed of vehicle 110 is more than pre-
If speed.Speed capture device 220 can be speedometer on global positioning system (GPS) or vehicle, so as to learning actual vehicle speed.As for
Database 230 then stores vehicle shift state model and apart from threshold values Δ XTH, database 230 can connect cloud server.In addition,
240 signal of operation processing unit connects image capture unit 210, speed capture device 220, database 230 and alarming device
250, and operation processing unit 240 includes that lane line detecting module 242, crimping detecting module 244 and changing Lane detect mould
Block 246.Wherein lane line detecting module 242 receives the image frame data from image capture unit 210 and picks out vehicle
The lane line 104 in 110 tracks 102 advanced at present.244 signal of crimping detecting module connects lane line detecting module 242, and presses
Line detecting module 244 receives image frame data and judges whether vehicle 110 is pressed onto lane line 104.And changing Lane detects mould
Then signal connects lane line detecting module 242 and crimping detecting module 244 to block 246, while receiving image frame data and foundation
The degrees of offset of image frame data operation vehicle 110, and whether the degrees of offset for comparing vehicle 110 is more than apart from threshold values Δ
XTH, whether it is unconscious changing Lane 102 to judge to drive.The degrees of offset of vehicle 110, which corresponds to, exceeds lane line distance, that is,
The side for representing vehicle 110 has exceeded the spacing of lane line 104.In addition it is noted that crimping detecting module 244 need to be detectd first
It measures vehicle 110 and has been pressed onto lane line 104, then changing Lane detecting module 246, which can just start, detects and compare vehicle 110
Degrees of offset with apart from threshold values Δ XTH.If vehicle 110 is not pressed onto lane line 104, changing Lane detecting module 246 is in be measured
State.In addition, 250 signal of alarming device connects operation processing unit 240, and alarming device 250 shows or is in audibly
Existing lane bias alarm signal LDF, changing Lane signal LCF or driving condition signal DSN.Alarming device 250 can be loudspeaker,
LED or screen etc., to provide the warning effect of different modes and class.Whereby, driving condition caution system of the invention
200 are not necessarily to additional indicator arrangement for detecting, not only simple to install, and can reach detecting and drive the intention of changing Lane 102
The effect of, solve the problems, such as known technology need additional the shortcomings that increasing indicator arrangement for detecting and.
In figure 4b, track line model is the driving acquired using conic fitting equation operation, and of the invention
State warning system 200 is the behavioral aspect using conic fitting equation estimation 110 changing Lane 102 of vehicle.This two
Secondary Fitting curve equation formula can utilize formula (1) to indicate:
X=ky2+m·y+b (1);
Wherein parameter x, y is respectively the horizontal axis and the longitudinal axis in physical plane space, and parameter k, m, b are then by known lane line
Model acquires.Furthermore it can be calculated by track line model and acquire track slope εL, this track slope εLUsing formula (2) table
Show:
εL=2ky+m (2);
In addition, utilizing above-mentioned track slope εL, can further calculate lateral direction of car displacement Δ, formula be for:Δ
=XL-L×εL, wherein Δ represents lateral direction of car displacement, XLThe vehicle shift amount of reference point is represented, L represents the pre- apparent distance, εL
Represent travelling route slope, that is, track slope.In addition, according to the acquired travelling route track of conic fitting equation,
Also it can calculate that the traveling of vehicle 110 can utilize formula in linear section with lane line 104 Δ X separated by a distance, this distance, delta X
(3) it indicates:
Wherein bRRepresent lane width, bVRepresent vehicle width.Whereby, on operation processing unit 240 of the invention can pass through
It states formula (1)~(3) operation and acquires track slope εL, lateral direction of car displacement Δ and distance, delta X, and then operation generates track
Bias alarm signal LDF, changing Lane signal LCF, driving condition signal DSN, and judge that driving has unconscious changing Lane
102。
Also referring to Fig. 7 and Fig. 8.Fig. 7 is the driving condition alarming method for power 100a for being painted another embodiment of the present invention
Flow diagram.Fig. 8 is the side for the driving condition caution system 200a for being painted the driving condition alarming method for power 100a that can implement Fig. 7
Block schematic diagram.As shown, driving condition alarming method for power 100a includes lane line information acquisition step S21, speed judgment step
S22, system disability step S222, crimping judgment step S23, driving condition reply mechanism step S232, consciousness judgment step
S24, mobile route analytical procedure S25, comparing step S26, running time analytical procedure S27, driving condition estimate step
S28 and alert stage S29.
Cooperation is referring to Fig.2, in the example of figure 7, speed judgment step S22, system disability step S222, crimping judge
Step S23, driving condition replys mechanism step S232, consciousness judgment step S24, alert stage S29 sides corresponding with Fig. 2
Block is identical, repeats no more.Specifically, the lane line information acquisition step of the driving condition alarming method for power 100a of Fig. 7 embodiments
S21 includes storage data step S11 and image identification step S12, this lane line information acquisition step S21 penetrates image frame number
According to the lane line 104 for picking out the track 102 that vehicle 110 is advanced at present.In addition, driving condition alarming method for power 100a also includes to move
Dynamic path analysis step S25, comparing step S26, running time analytical procedure S27 and driving condition estimation step S28.
When it is unconscious changing Lane 102 to realize judgment step S24 to judge to drive, mobile route analytical procedure S25 can be executed, this
Mobile route analytical procedure S25 is the mobile route 120 using operation processing unit 240a analysis vehicles 110.Then, shape is driven
State alarming method for power 100a can execute comparing step S26, this comparing step S26 utilizes operation processing unit 240a
Driving condition grading module 248 compares offset speed and vehicle shift state model.Running time analytical procedure S27 is to provide row
The time is sailed to comparing step S26 as with reference to the basis compared.Then, driving condition estimation step S28 is to utilize operation
The driving condition grading module 248 of processing unit 240a is inclined according to image frame data and running time operation output vehicle 110
Move the first offset speed when the lane center in track 102With the second offset speedAnd deviate speed by firstThe
Two offset speedsAnd vehicle shift state model is compared and estimates the state of mind of driving.The vehicle of the present embodiment
Shift state model is set there are four types of preset condition, when the driving condition estimation step S28 driving state of mind estimated and vehicle
Preset condition in shift state model can deduct points when being consistent, and driving condition signal DSN can be obtained after score is added up, drive
Sail the higher state of mind for representing driving of score of status signal DSN better.In detail, when 110 offset lanes center of vehicle
When, the first offset speedLess than 50 centimeters per second, and when vehicle 110 revert to lane center, the second offset speedAlso
Under conditions of 50 centimeters per second, then the state of mind driven is defined as " accidentally deviating ".When in 110 offset lanes of vehicle
When the heart, the first offset speedLess than 50 centimeters per second, and when vehicle 110 revert to lane center, the second offset speed
Under conditions of 50 centimeters per second, then the state of mind driven is defined as " not driving attentively ".When in 110 offset lanes of vehicle
When the heart, the first offset speedMore than 50 centimeters per second, and when vehicle 110 revert to lane center, the second offset speed
Under conditions of 50 centimeters per second, then the state of mind driven is defined as " attentively driving or fatigue driving ".When vehicle 110
When offset lanes center, the first offset speedMore than 50 centimeters per second, and when vehicle 110 revert to lane center, second
Deviate speedAlso it is more than under conditions of 50 centimeters per second, then the state of mind driven is defined as " fatigue driving ".
In addition, the present invention it is corresponding according to different driving state of mind settings to divide benchmark give to point.Such as:
" accidentally deviating " is button 10%, and " not driving attentively " is button 20%, and " inwholwe-hearted or fatigue driving " is button 30%, and " fatigue is driven
Sail " it is button 40%, and other situations then detain 10%.Therefore in the embodiment of Fig. 4 A, the first offset speedIt is public for per second 90
Point, the second offset speedIt it is 80 centimeters per second, state belongs to " fatigue driving ", if being detained since full marks 100%, drives
The state of mind sailed is 60%.It is above-mentioned that benchmark is divided to be as the embodiment of the present invention, it is not limited to which that this condition is set.Again
Person, when driving condition signal DSN will be deducted points by above-mentioned condition, and changing Lane signal LCF=1, driving is represented as intentionally
Know changing Lane 102, does not then deduct points at this time.In addition, provide in the present invention a driving condition reply mechanism step S232,
S142, when vehicle 110 be returned to lane center and stablize advance after, if be driven in a preset time do not occur it is any not just
When normal vehicle 110 deviates, score can obtain bonus point.Assuming that preset time be 150 seconds, if be driven in 150 seconds do not occur it is all
As accidentally offset, attentively drive or fatigue driving situation, then driving condition signal DSN can be obtained 10% bonus point,
And be shown on alarming device 250, drive data, figure or the score that quantization can be seen from alarming device 250.Furthermore this
The alert stage S29 of invention can will drive the state of mind and be shown on alarming device 250, allow driving it can be seen that driving condition is commented
The score that sub-module 248 is estimated, i.e. driving condition signal DSN, and sound warning can be provided in due course, reminding to drive should keep to the side to stop
It ceases or steps up vigilance, to avoid having a car accident.Whereby, the present invention is in through the data quantization or figure for driving the state of mind
It is existing, so that driving is understood whether oneself state can continue operating and controlling vehicle 110.
Also referring to Fig. 3 and Fig. 8.The driving condition caution system 200a of Fig. 8 includes image capture unit 210, speed
Capture device 220, database 230, operation processing unit 240a and alarming device 250.Wherein image capture unit 210, vehicle
Fast capture device 220, database 230, lane line detecting module 242, crimping detecting module 244, changing Lane detecting module
246, alarming device 250 is identical as corresponding square in Fig. 3, repeats no more.Specifically, the driving condition of Fig. 8 embodiments
The operation processing unit 240a of caution system 200a also includes driving condition grading module 248, this driving condition grading module 248
It is foundation image frame data operation output offset speed, and offset speed is compared with vehicle shift state model and is estimated
Calculate the state of mind driven.The state of mind of driving can correspond to the score of driving condition signal DSN.Whereby, of the invention to be
System is not necessarily to additional indicator arrangement for detecting, not only simple to install, but also can judge that driving has unconscious transformation vehicle immediately and accurately
Road 102 and its state of mind, and corresponding warning is provided.
By the above embodiment it is found that the present invention has following advantages:First, can be in the condition detected without using indicator
Under, through the picture that image capture unit obtains, operation simultaneously judges that driving has unconscious changing Lane and its state of mind, and
Corresponding warning is provided and informs driving.Second, since the present invention is not necessarily to additional indicator arrangement for detecting, not only installation letter
Easily, and the effect of detecting drives changing Lane intention can be reached, solves known technology and the additional indicator that increases is needed to detect
The shortcomings that surveying device and problem.
Although the present invention is disclosed above with embodiment, however, it is not to limit the invention, any to be familiar with this skill
Person, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations, therefore protection scope of the present invention is worked as
Subject to the scope of which is defined in the appended claims.
Claims (10)
1. a kind of driving condition alarming method for power is the state of mind that a driving is judged by the mobile route of a vehicle,
It is characterized in that, which comprises the steps of:
One storage data step is to provide a database and stores a vehicle shift state model and one apart from threshold values;
One image identification step is to provide an image capture unit and captures an image frame data, and by the image frame data
Pick out a lane line in the track that the vehicle is advanced at present;
Whether one speed judgment step is to provide a speed capture device and judges an actual vehicle speed of the vehicle more than a default vehicle
Speed if it is not, then entering system disability step, and re-executes the image identification step;
One crimping judgment step is to provide an operation processing unit and judges whether the vehicle is pressed onto this according to the image frame data
Lane line, if it is not, then re-executing the image identification step;And
One consciousness judgment step, is the offset journey using the operation processing unit according to the image frame data operation vehicle
Degree, and compare the vehicle degrees of offset whether be more than this apart from threshold values to judge whether the driving is unconscious changing Lane,
If it is not, then re-executing the image identification step.
2. driving condition alarming method for power according to claim 1, which is characterized in that also include:
One driving condition estimates step, is that according to the image frame data operation to export the vehicle using the operation processing unit inclined
At least one offset speed when the track is moved, and the offset speed is compared with the vehicle shift state model and is estimated
The state of mind of the driving.
3. driving condition alarming method for power according to claim 2, which is characterized in that wherein one Y direction of track direction
Extend, which includes:
One first lane center offset represents the vehicle shift lane center and is moved to one second by a first position
Position, and the first position and the second position project it is separated by a distance to X-direction institute;And
One second lane center offset represents the vehicle and revert to the lane center and be moved to one by the second position
Three positions, and the second position and the third place project it is separated by a distance to X-direction institute;
One first shift time represents the time that the vehicle is moved to the second position by the first position;And
One second shift time represents the time that the vehicle is moved to the third place by the second position;
Wherein, which is according to the first lane center offset, the second lane center offset, first offset
Time and the second shift time operation acquire.
4. driving condition alarming method for power according to claim 1, which is characterized in that wherein,
In the crimping judgment step, when the vehicle is not pressed onto the lane line, which sets a lane shift
Alarm signal is 0, and the lane bias alarm signal is stored into the database;And
When the vehicle is pressed onto the lane line, which sets the lane bias alarm signal as 1, and by the track
Bias alarm signal is stored into the database.
5. driving condition alarming method for power according to claim 4, which is characterized in that wherein,
In the consciousness judgment step, when one between the vehicle and the lane line is less than this apart from threshold values beyond lane line distance
When, which sets a changing Lane signal as 0, and the changing Lane signal is stored into the database;And
When this beyond lane line distance be more than or equal to this apart from threshold values when, the operation processing unit set the changing Lane signal as
1, and the changing Lane signal is stored into the database.
6. driving condition alarming method for power according to claim 5, which is characterized in that wherein,
In the consciousness judgment step, when the lane bias alarm signal is 1 and the changing Lane signal is 0, at the operation
The unit judges driving is managed as unconscious changing Lane;And
When the lane bias alarm signal is 1 and the changing Lane signal is 1, which judges the driving to have
Realize changing Lane.
7. driving condition alarming method for power according to claim 6, which is characterized in that also include:
One alert stage is to provide an alarming device and shows or audibly present the lane bias alarm signal, the transformation
Track signal or a driving condition signal.
8. a kind of driving condition caution system for implementing driving condition alarming method for power described in claim 1, which is characterized in that packet
Contain:
One image capture unit captures the image frame data;
One speed capture device judges whether the actual vehicle speed of the vehicle is more than the preset vehicle speed;
One database, store the vehicle shift state model with this apart from threshold values;And
One operation processing unit, signal connect the image capture unit, the speed capture device and the database, the calculation process
Unit includes:
One lane line detecting module receives the image frame data and picks out the track in the track that the vehicle is advanced at present
Line;
One crimping detecting module receives the image frame data and judges whether the vehicle is pressed onto the lane line;And
One changing Lane detecting module receives the image frame data and according to the offset of the image frame data operation vehicle
Degree, and whether the degrees of offset for comparing the vehicle is more than this apart from threshold values, to judge whether the driving is that unconscious change is changed trains
Road.
9. driving condition caution system according to claim 8, which is characterized in that wherein the operation processing unit is also wrapped
Contain:
One driving condition grading module exports the offset speed according to the image frame data operation, and by the offset speed with
The vehicle shift state model is compared and estimates the state of mind of the driving.
10. driving condition caution system according to claim 8, which is characterized in that also include:
One alarming device, signal connect the operation processing unit, which shows or a lane shift is presented in voice mode
Alarm signal, a changing Lane signal or a driving condition signal.
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