CN108944927B - Lane keeping apparatus and method for vehicle - Google Patents
Lane keeping apparatus and method for vehicle Download PDFInfo
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- CN108944927B CN108944927B CN201811140153.0A CN201811140153A CN108944927B CN 108944927 B CN108944927 B CN 108944927B CN 201811140153 A CN201811140153 A CN 201811140153A CN 108944927 B CN108944927 B CN 108944927B
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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Abstract
The invention relates to the field of automatic driving, in particular to a lane keeping device and a lane keeping method for a vehicle, wherein the lane keeping device comprises: a camera for acquiring a lane image, the camera further for uploading the lane image to a master control system of the vehicle, the lane keeping apparatus further comprising: the infrared light irradiation device is used for irradiating infrared light to the traffic lines on two sides of the lane, and the hyperspectral camera device is used for acquiring images of the traffic lines irradiated by the infrared light irradiation device on two sides of the lane and uploading the images of the traffic lines on two sides of the lane to the main control system; compared with the prior art, the system can clearly obtain the lane images with the traffic lines on the two sides, and reduces the potential safety hazard of the vehicle during driving.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a lane keeping device and method of a vehicle.
Background
Because more and more automobiles are equipped with a lane keeping function at present, the principle is that the cameras arranged at the front ends of the automobile head or the rearview mirrors are used for capturing the driving lines on two sides of the lane, and a system in the automobile can automatically operate a steering wheel of the automobile according to the driving lines captured by the cameras so as to ensure that the automobile runs in the middle of the lane. However, the prior art has the defects that the camera can easily acquire the traffic lines on the two sides of the lane under the condition of sufficient light in the daytime, once the night comes, the external illumination is insufficient compared with the daytime, meanwhile, the traffic lines on the two sides of the lane are mainly yellow and white, and the influence of the illumination of the street lamps on the two sides of the lane is added, when the light of the street lamps irradiates on the traffic lines, the traffic lines can diffuse the light of the street lamps, the camera on the vehicle cannot clearly acquire the traffic lines on the two sides of the lane, the lane keeping function failure phenomenon often occurs, and once the traffic lines fail, the hidden danger can be caused to the traffic safety.
Disclosure of Invention
The invention aims to provide a lane keeping device and a lane keeping method of a vehicle, so that the vehicle can clearly obtain lane images with two side traffic lines at night, thereby ensuring the normal operation of a lane keeping function and reducing potential safety hazards.
To solve the above technical problem, an embodiment of the present invention provides a lane keeping apparatus of a vehicle, including: a camera for obtaining lane images with two-sided traffic lanes, the camera further being used for uploading the obtained lane images to a master control system of a vehicle, the lane keeping apparatus further comprising:
the infrared light irradiation device is electrically connected with the master control system and is used for irradiating infrared light to the traffic lines on two sides of the lane when the vehicle runs;
the hyperspectral camera device is electrically connected with the main control system and used for acquiring images of the traffic lines irradiated by the infrared light-emitting irradiation device on two sides of the lane and uploading the acquired images of the traffic lines to the main control system;
the main control system is also used for superposing the driving line images uploaded by the hyperspectral camera on the lane images uploaded by the camera, obtaining clear lane images with driving lines on two sides according to superposition, and controlling the vehicle according to the lane images.
In addition, an embodiment of the present invention also provides a lane keeping method of a vehicle, including the steps of:
acquiring a lane image with traffic lines on two sides in front of a vehicle;
when a vehicle runs, infrared light rays are respectively irradiated to the driving lines on two sides of the lane;
acquiring traffic line images irradiated by infrared light at two sides of a lane;
superposing the acquired lane images on the two sides of the lane to obtain clear lane images with the lanes on the two sides;
and the vehicle keeps a lane according to the lane image on which the driving line images on the two sides are superposed.
Compared with the prior art, the embodiment of the invention has the advantages that the driving lines on two sides of the lane are mainly yellow and white, and the influence of street lamp illumination on two sides of the road is added, when the light of the street lamps irradiates on the driving lines, the driving lines can diffuse the light of the street lamps, so that the characteristic that the hyperspectral camera device can only obtain the light with the specific illumination wavelength is utilized, when the driving lines on two sides of the lane are subjected to the infrared light emitted by the infrared light irradiation device, the driving lines can reflect the light with the specific wavelength, the hyperspectral camera device can automatically generate driving line images by obtaining the light with the specific wavelength, the obtained driving line images on two sides of the lane are uploaded to the main control system of the vehicle in real time, the main control system superposes the driving line images on the lane images obtained by the camera, and the main control system can obtain clear lane images with the driving lines on two sides, and the vehicle is kept on the lane according to the image, so that the normal operation of the lane keeping function is ensured, and the potential safety hazard of the vehicle during running is reduced.
Further, the infrared light irradiation device includes:
the first infrared transmitter is arranged at the bottom of the rearview mirror at one side of the vehicle and used for transmitting infrared rays to the first traffic line at one side of the lane when the vehicle runs;
the second infrared transmitter is arranged at the bottom of the rearview mirror at the other side of the vehicle and used for transmitting infrared rays to the second traffic line at the other side of the lane when the vehicle runs;
the hyperspectral photographing apparatus includes:
the first hyperspectral camera is arranged at the bottom of a rearview mirror on one side of a vehicle, is electrically connected with the main control system, and is used for acquiring a first image of the first traffic line irradiated by the first infrared emitter on one side of the lane and uploading the acquired first image to the main control system;
the second hyperspectral camera is arranged at the bottom of a rearview mirror on the other side of the vehicle, is electrically connected with the main control system, and is used for acquiring a second image of the second traffic line irradiated by the second infrared emitter on the other side of the lane and uploading the acquired second image to the main control system;
the main control system is used for respectively superposing the first image and the second image on the lane image uploaded by the camera.
Further, the lane keeping apparatus of a vehicle further includes:
the sensor is electrically connected with the master control system and used for detecting the illumination brightness in a preset range in front of the vehicle and uploading the detected brightness value to the master control system;
after the vehicle enters a lane keeping mode, the main control system is used for judging whether the received brightness value uploaded by the sensor is lower than a preset value or not, and turning on the infrared light irradiation device and the hyperspectral photographic device after judging that the brightness value is lower than the preset value.
Further, the main control system is further configured to control the vehicle according to the lane image acquired by the camera after determining that the brightness value uploaded by the sensor is not lower than the preset value.
Further, the main control system is further configured to, after the first image is superimposed on the lane image uploaded by the camera, determine whether an inner boundary of the first lane in the first image coincides with an inner boundary of the first lane in the lane image, and after it is determined that the inner boundary of the first lane in the first image is not coincident, continue to determine whether the inner boundary of the first lane in the first image is closer to the vehicle, and after it is determined that the inner boundary of the first lane in the first image is closer to the vehicle, use the inner boundary of the first lane in the first image as the inner boundary of the first lane of the current lane;
the major control system still be used for with the second image stack is in the camera uploads back on the lane image, judge in the second image the inner boundary of second driving line with in the lane image whether the inner boundary of second driving line coincides to after judging not coinciding, continue to judge in the second image whether the inner boundary of second driving line is more close to the vehicle, and in judging in the second image the inner boundary of second driving line is more close to the vehicle after, will in the second image the inner boundary of second driving line is as the inner boundary of the second driving line of current lane.
Further, the main control system is further configured to, after determining that the inner boundary of the first lane in the first image is not closer to the vehicle, take the first lane in the lane image acquired by the camera as the first lane of the current lane; the main control system is further configured to use the second lane in the lane image acquired by the camera as the second lane of the current lane after determining that the inner boundary of the second lane in the second image is not closer to the vehicle.
Further, the main control system is further configured to, after determining that the inner boundary of the first lane in the first image coincides with the inner boundary of the first lane in the lane image, use the inner boundary of the first lane in the lane image as the inner boundary of the first lane of the current lane; the main control system is further used for judging that the inner boundary of the second lane in the second image coincides with the inner boundary of the second lane in the lane image, and then taking the inner boundary of the second lane in the lane image as the inner boundary of the second lane of the current lane.
Drawings
FIG. 1 is a schematic view of a vehicle in a lane keeping mode in accordance with a first embodiment of the present invention;
fig. 2 is a schematic structural view of a lane keeping apparatus according to a first embodiment of the present invention;
fig. 3 is a system block diagram of the lane keeping apparatus of the first embodiment of the present invention;
fig. 4 is a system block diagram of a lane keeping apparatus according to a second embodiment of the present invention;
FIG. 5 is a block diagram schematically illustrating a flow of a lane keeping method according to a third embodiment of the present invention;
FIG. 6 is a schematic view of a vehicle according to a third embodiment of the present invention in a lane keeping mode;
fig. 7 is a schematic structural view of a lane keeping apparatus according to a third embodiment of the present invention;
fig. 8 is a system block diagram of a lane keeping apparatus of a third embodiment;
fig. 9 is a schematic block diagram of a flow for superimposing a first lane and a second lane on a lane image, respectively, in the lane keeping method according to the third embodiment of the present invention;
FIG. 10 is a schematic view of a vehicle in a lane keeping mode in accordance with a fourth embodiment of the present invention;
fig. 11 is a system block diagram of a lane keeping apparatus according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a lane keeping device for a vehicle, as shown in fig. 1, including: the camera 1 is used for acquiring lane images with two-side traffic lanes, and the camera 1 is also used for uploading the acquired lane images to a main control system of the vehicle.
As shown in fig. 2 and 3, the lane keeping device according to the present embodiment further includes: the infrared light irradiation device 2 and the hyperspectral camera device 3 are electrically connected with the main control system. The infrared light irradiation device 2 is used for irradiating infrared light to the traffic lines on two sides of the lane when the vehicle runs. The hyperspectral camera device 3 is used for acquiring images of the traffic lines irradiated by the infrared light-emitting irradiation devices on two sides of the lane and uploading the acquired images of the traffic lines to the main control system.
In addition, the main control system is also used for superposing the driving line images at two sides of the lane uploaded by the hyperspectral camera on the lane image uploaded by the camera 1 to obtain a clear lane image with the driving lines at two sides and controlling the vehicle according to the lane image.
It can be easily found from the above description that the driving lines on both sides of the lane are mainly yellow and white, and the influence of the illumination of the street lamps on both sides of the road is added, so that when the light of the street lamps irradiates the driving lines, the driving lines can diffuse the light of the street lamps, and the camera 1 is not favorable for shooting the driving lines. In the embodiment, because the characteristic that the hyperspectral camera 3 can only acquire the light with the specific illumination wavelength is utilized, when the traffic lines on the two sides of the road are subjected to the infrared light emitted by the infrared light irradiation device 2, the light with the specific wavelength can be reflected, the hyperspectral camera 3 can automatically generate corresponding traffic line images by acquiring the light with the specific wavelength, and the acquired traffic line images on the two sides of the lane are uploaded to the main control system of the vehicle in real time, and the main control system superposes the traffic line images on the lane images acquired by the camera 1, so that the main control system can acquire clear lane images with the traffic lines on the two sides and carry out lane keeping on the vehicle according to the images, thereby ensuring the normal operation of the lane keeping function and reducing the potential safety hazard of the vehicle during driving.
Specifically, in the present embodiment, as shown in fig. 2, the infrared light irradiation device 2 includes: a first infrared emitter 21 provided at the bottom of the rearview mirror 4 on one side of the vehicle, and a second infrared emitter 22 provided at the bottom of the rearview mirror 5 on the other side of the vehicle. And, the first infrared transmitter 21 is for transmitting infrared light to a first lane on one side of the lane when the vehicle is running, and the second infrared transmitter 22 is for transmitting infrared light to a second lane on the other side of the lane when the vehicle is running.
And the hyperspectral photographic apparatus 3 includes: the hyperspectral camera system comprises a first hyperspectral camera 31 arranged at the bottom of a rearview mirror 4 on one side of a vehicle and a second hyperspectral camera 32 arranged at the bottom of a rearview mirror 5 on the other side of the vehicle, wherein the first hyperspectral camera 31 and the second hyperspectral camera 32 are both electrically connected with a master control system.
When the vehicle is running and enters a lane keeping mode, the main control system can turn on the first infrared transmitter 21, the second infrared transmitter 22, the first hyperspectral camera 31 and the second hyperspectral camera 32, so that the first infrared transmitter 21 transmits infrared light to the first lane 7 on one side of the lane, and the second infrared transmitter transmits infrared light to the second lane 8 on the other side of the lane, when the first lane 7 is irradiated by the infrared light emitted by the first infrared transmitter 21, light with specific wavelength is reflected to be obtained by the first hyperspectral camera 31, and when the second lane 8 is irradiated by the infrared light emitted by the second infrared transmitter 22, light with specific wavelength is reflected to be obtained by the second hyperspectral camera 32. Therefore, after obtaining the light with the specific wavelength reflected by the first lane 7, the first hyperspectral camera 31 can directly and automatically generate the first image of the first lane 7 according to the light, and after obtaining the light with the specific wavelength reflected by the second lane 8, the second hyperspectral camera 32 can directly and automatically generate the second image of the second lane 8 according to the light, and the first hyperspectral camera 31 and the second hyperspectral camera 32 are further used for uploading the generated first image and the generated second image to the main control system respectively, and the main control system respectively superposes the acquired first image of the first lane 7 and the acquired second image of the second lane 8 on the lane image uploaded by the camera 1, so that a clearer lane image with two lanes is obtained.
It is not difficult to find that the driving lines on the two sides of the lane generally mainly have yellow and white colors, and therefore, when the wavelengths of the light reflected by the first infrared emitter 21 and the first infrared emitter 22 after respectively irradiating the first driving line 7 and the second driving line 8 are different from the wavelengths of the light reflected by the road surface, the first hyperspectral camera 31 and the second hyperspectral camera 32 in the embodiment utilize the characteristics of the hyperspectral cameras themselves, and the wavelength values of the light acquired by the first hyperspectral camera 31 and the second hyperspectral camera 32 can be set to the wavelength values reflected by the white and yellow driving lines after irradiating the infrared light by the main control system, so that the first hyperspectral camera 31 and the second hyperspectral camera 32 can accurately and clearly acquire the images of the first driving line 7 and the second driving line 8.
In addition, it is worth mentioning that, in order to ensure that the main control system can acquire a more accurate lane image with two-side lanes, as shown in fig. 3, in this embodiment, the main control system is further configured to determine whether the inner boundary of the first lane in the first image coincides with the inner boundary of the first lane in the lane image after superimposing the first image on the lane image uploaded by the camera 1, and after determining that the inner boundaries coincide, it indicates that the first lane 7 in the lane image obtained by the camera 1 is the same as the first image of the first lane 7 generated by the first hyperspectral camera 31 according to the specific wavelength, and at this time, the main control system takes the inner boundary of the first lane in the lane image as the inner boundary of the first lane of the current lane. After the judgment that the images do not coincide with each other, it is indicated that the first lane 7 in the lane image obtained by the camera 1 is different from the first image of the first lane 7 generated by the first hyperspectral camera 31 according to the specific wavelength, at this time, the main control system continues to judge whether the inner boundary of the first lane in the first image is closer to the vehicle, and after the inner boundary of the first lane in the first image is judged to be closer to the vehicle, the inner boundary of the first lane in the first image is taken as the inner boundary of the first lane of the current lane. On the contrary, when the main control system determines that the inner boundary of the first lane in the first image is not closer to the vehicle, the main control system takes the inner boundary of the first lane in the lane image acquired by the camera 1 as the inner boundary of the first lane of the current lane.
Similarly, the main control system is further configured to determine whether the inner boundary of the second lane in the second image coincides with the inner boundary of the second lane in the lane image after superimposing the second image on the lane image uploaded by the camera 1, and after determining that the inner boundary coincides with the inner boundary of the second lane, it indicates that the second lane 8 in the lane image obtained by the camera 1 is the same as the second image of the second lane 8 generated by the second hyperspectral camera 32 according to the light with the specific wavelength, and at this time, the main control system takes the inner boundary of the second lane in the lane image as the inner boundary of the second lane of the current lane. And after the judgment is not coincident, the second driving line 8 in the lane image obtained by the camera 1 is different from the second image of the second driving line 8 generated by the second hyperspectral camera 32 according to the light with the specific wavelength, at the moment, the main control system continuously judges whether the inner boundary of the second driving line in the second image is closer to the vehicle, and after the inner boundary of the second driving line in the second image is judged to be closer to the vehicle, the inner boundary of the second driving line in the second image is used as the inner boundary of the second driving line of the current lane. On the contrary, when the main control system determines that the inner boundary of the second lane in the second image is not closer to the vehicle, the main control system takes the inner boundary of the second lane in the lane image acquired by the camera 1 as the inner boundary of the second lane of the current lane.
A second embodiment of the present invention relates to a lane keeping apparatus for a vehicle, which is a further improvement of the first embodiment, and which is mainly characterized in that: as shown in fig. 4, the lane keeping device of the present embodiment further includes: the sensor is arranged on the vehicle head and is electrically connected with the master control system. In practical application, the sensor is used for detecting the illumination brightness in a preset range in front of the vehicle and uploading the detected brightness value to the main control system, the main control system is used for judging whether the received brightness value uploaded by the sensor is lower than a preset value or not after the vehicle enters a lane keeping mode, the infrared light irradiation device and the hyperspectral photographic device are turned on after the brightness value is judged to be lower than the preset value, and the main control system is used for controlling the vehicle according to the lane image acquired by the camera after the brightness value is judged to be not lower than the preset value.
Through the above, the existence of the sensor is easy to find, when the external illumination is sufficient (namely in the daytime), the infrared light irradiation device and the hyperspectral photographic device can be always in the closed state, the main control system can directly carry out lane keeping on the vehicle through the lane image acquired by the camera 1, and when the external illumination is dark (namely in the evening), the infrared light irradiation device and the hyperspectral photographic device can be opened by the main control system, so that the vehicle can maintain the lane keeping and simultaneously can also reduce the power consumption of the vehicle during driving.
Specifically, in the present embodiment, the sensor may be a brightness sensor, and the sensor may be disposed at a position where the front end of the front, roof, or rear view mirror can easily receive the external illumination, so as to conveniently check the external illumination brightness of the vehicle when the vehicle is running.
In addition, in order to further improve the safety of the vehicle during driving, the lane keeping device of the vehicle of the embodiment further comprises a warning lamp arranged on the vehicle center console, and the warning lamp is electrically connected with the main control system. When the vehicle enters a lane keeping mode, and after the main control system turns on the hyperspectral photographing device, if the main control system fails to acquire an image uploaded by the hyperspectral photographing device, for example, when the first hyperspectral camera 31 and the second hyperspectral camera 32 cannot acquire images due to a fault, the main control system can immediately turn on a warning lamp to give an alarm to remind a driver, so that the safety of the driver during driving is improved. And, as preferred scheme, when the master control system still is used for when turning on the warning light, still automatic lane keeping mode of quitting to further guarantee driver's driving safety.
A third embodiment of the present invention relates to a lane keeping method of a vehicle, as shown in fig. 5, including the steps of:
and step 510, acquiring a lane image with two driving lines at the front of the vehicle.
And step 520, respectively irradiating infrared rays to the driving lines on the two sides of the lane when the vehicle runs.
And step 530, acquiring the driving line images irradiated by the infrared rays on the two sides of the lane.
And 540, superposing the acquired driving line images on the two sides of the lane on the lane image to obtain a clear lane image with the driving lines on the two sides.
And step 550, the vehicle keeps the lane according to the clear lane image with the traffic lines on the two sides.
It can be easily found from the above description that the lanes on both sides of the lane are generally mainly yellow and white, and the influence of the illumination of the street lamps on both sides of the road is added, as shown in fig. 6 and 7, when the light of the street lamps is irradiated onto the lanes, the lanes will be diffusely reflected by the lanes, so that the vehicle is not favorable for lane keeping according to the lanes on both sides of the lane. Therefore, the embodiment utilizes the characteristic that the traffic line can emit light with a specific wavelength after being irradiated by infrared light, can automatically generate a corresponding traffic line image by acquiring the light with the specific wavelength reflected by the traffic line, and superposes the traffic line image on the lane image, thereby obtaining a clear lane image with the traffic lines on two sides, and keeping the lane of the vehicle according to the image, thereby ensuring the normal operation of the lane keeping function and reducing the potential safety hazard of the vehicle during the running.
Specifically, in the present embodiment, as shown in fig. 8, an infrared light irradiation device 2 may be used to irradiate infrared light to the traffic lane on both sides of the lane, specifically, the infrared light irradiation device is composed of a first infrared emitter 21 and a second infrared emitter 22, meanwhile, the traffic lane images on both sides of the lane may be acquired by using a hyperspectral camera 3, and the hyperspectral camera 3 is mainly composed of a first hyperspectral camera 31 and a second hyperspectral camera 32, and the first infrared emitter 21 and the first hyperspectral camera 31 are disposed on the rearview mirror 4 on one side of the vehicle, and the second infrared emitter 22 and the second hyperspectral camera 32 are disposed on the rearview mirror 5 on the other side of the vehicle. In practical application, as shown in fig. 7, a first image of a first lane 7 on one side of the lane may be acquired by the first hyperspectral camera 31, and a second image of a second lane 8 on the other side of the lane may be acquired by the second hyperspectral camera 32. After the vehicle enters a lane keeping mode, a main control system of the vehicle can be used for opening the first infrared transmitter 21, the second infrared transmitter 22, the first hyperspectral camera 31 and the second hyperspectral camera 32, so that the first infrared transmitter 21 can transmit infrared light to the first lane 7 on one side of the lane, the second infrared transmitter can transmit infrared light to the second lane 8 on the other side of the lane, when the first lane 7 is irradiated by the infrared light emitted by the first infrared transmitter 21, the light with specific wavelength can be reflected to be obtained by the first hyperspectral camera 31, and when the second lane 8 is irradiated by the infrared light emitted by the second infrared transmitter 22, the light with specific wavelength can be reflected to be obtained by the second hyperspectral camera 32. Therefore, when the first hyperspectral camera 31 obtains the light with the specific wavelength reflected by the first lane 7, it can directly generate the first image of the first lane 7 according to the light, and when the second hyperspectral camera 32 obtains the light with a specific wavelength reflected by the second lane 8, it can directly generate a second image of the second lane 8 according to the light, the first hyperspectral camera 31 and the second hyperspectral camera 32 are also used for uploading the generated first image and second image to the main control system respectively, the main control system respectively superposes the acquired first image of the first lane 7 and the acquired second image of the second lane 8 on the lane image uploaded by the camera 1, therefore, a clearer lane image with the traffic lines on the two sides is obtained, and a main control system of the vehicle can keep the lane of the vehicle according to the image, so that the safety of a driver during driving is improved.
Further, the preferred embodiment is described below. After step 540, and before step 550, as shown in fig. 9, the following steps are further included:
In step 5414, after it is determined that the inner boundary of the first lane in the first image is closer to the vehicle, the inner boundary of the first lane in the first image is set as the inner boundary of the first lane of the current lane.
It should be noted that, at the same time as step 5411 is performed, step 5416 is also performed to determine whether or not the inner boundary of the second lane in the second image coincides with the inner boundary of the second lane in the lane image.
In step 5419, after it is determined that the inner boundary of the second lane in the second image is closer to the vehicle, the inner boundary of the second lane in the second image is set as the inner boundary of the second lane of the current lane.
It should be noted that this embodiment is an example of the positioning method corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
A fourth embodiment of the present invention relates to a lane keeping method of a vehicle, and is a further improvement of the third embodiment, and is mainly improved in that, as shown in fig. 10, the fourth embodiment further includes, after step 510, the steps of:
and 511, detecting the illumination brightness in a preset range in front of the vehicle.
as can be easily seen from the above, in the present embodiment, after the lane image with the two side lanes in front of the vehicle is acquired, whether the infrared light irradiation device and the hyperspectral camera are turned on or not can be determined by detecting the external illumination. Specifically, when the external light is sufficient, the infrared light irradiation device and the hyperspectral camera device can be closed by the main control system of the vehicle, and the main control system can completely realize the lane keeping of the vehicle through the lane images obtained by the camera of the vehicle, so that the power consumption of the vehicle during the running can be reduced while the lane keeping is maintained.
Specifically, in order to detect the brightness of the external light, as shown in fig. 11, a corresponding sensor may be installed at a front end of the vehicle, a roof of the vehicle, or a front end of a rear view mirror, and the brightness in a preset range in front of the vehicle may be detected by the sensor. In this embodiment, the sensor may be a luminance sensor.
In order to further improve the safety of the vehicle during traveling, the lane keeping device of the vehicle according to the present embodiment further includes: and the warning lamp (not marked in the figure) is arranged on the vehicle center console and is electrically connected with the master control system. When the vehicle enters a lane keeping mode and after the main control system turns on the hyperspectral photographing device, if the main control system fails to acquire the images uploaded by the hyperspectral photographing device, for example, when the first hyperspectral camera 31 and the second hyperspectral camera 32 cannot acquire the images due to a fault, the main control system can immediately turn on a warning lamp to give an alarm to remind a driver, so that the safety of the driver during driving is improved. And, as preferred scheme, when the master control system still is opening the warning light, still be used for the automatic lane keeping mode of quitting, in order to further guarantee driver's driving safety.
As described above, the present embodiment is an example of the positioning method corresponding to the second embodiment, and can be implemented in cooperation with the second embodiment. The related technical details mentioned in the second embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the second embodiment.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (4)
1. A lane keeping apparatus of a vehicle, comprising: the camera is used for obtaining lane images with two-side traffic lines, and the camera is also used for uploading the obtained lane images to a master control system of a vehicle, and is characterized in that: the lane keeping apparatus further includes:
the infrared light irradiation device is electrically connected with the master control system and is used for irradiating infrared light to the traffic lines on two sides of the lane when the vehicle runs;
the hyperspectral camera device is electrically connected with the master control system and used for acquiring the traffic line images irradiated by the infrared light irradiation device on the two sides of the lane and uploading the acquired traffic line images to the master control system;
the main control system is also used for superposing the lane images on the lane images uploaded by the camera, obtaining clear lane images with the lanes on two sides according to superposition, and controlling the vehicle according to the lane images;
the infrared light irradiation device includes:
the first infrared transmitter is arranged at the bottom of the rearview mirror at one side of the vehicle and used for transmitting infrared rays to a first traffic line at one side of a lane when the vehicle runs;
the second infrared transmitter is arranged at the bottom of the rearview mirror at the other side of the vehicle and used for transmitting infrared rays to a second traffic line at the other side of the lane when the vehicle runs;
the hyperspectral photographing apparatus includes:
the first hyperspectral camera is arranged at the bottom of a rearview mirror on one side of a vehicle, is electrically connected with the main control system, and is used for acquiring a first image of the first traffic line irradiated by the first infrared emitter on one side of the lane and uploading the acquired first image to the main control system;
the second hyperspectral camera is arranged at the bottom of a rearview mirror on the other side of the vehicle, is electrically connected with the main control system, and is used for acquiring a second image of the second traffic lane irradiated by the second infrared emitter on the other side of the lane and uploading the acquired second image to the main control system;
the main control system is used for respectively superposing the first image and the second image on the lane image uploaded by the camera;
the main control system is further configured to determine whether the inner boundary of the first lane in the first image coincides with the inner boundary of the first lane in the lane image after superimposing the first image on the lane image uploaded by the camera, and after determining that the inner boundary of the first lane in the first image is not coincident, continue to determine whether the inner boundary of the first lane in the first image is closer to the vehicle, and after determining that the inner boundary of the first lane in the first image is closer to the vehicle, use the inner boundary of the first lane in the first image as the inner boundary of the first lane of the current lane;
the main control system is further configured to determine whether the inner boundary of the second lane in the second image coincides with the inner boundary of the second lane in the lane image after superimposing the second image on the lane image uploaded by the camera, and after determining that the inner boundary of the second lane in the second image is not coincident, continue to determine whether the inner boundary of the second lane in the second image is closer to the vehicle, and after determining that the inner boundary of the second lane in the second image is closer to the vehicle, use the inner boundary of the second lane in the second image as the inner boundary of the second lane of the current lane;
the main control system is further configured to take the first lane in the lane image acquired by the camera as the first lane of the current lane after determining that the inner boundary of the first lane in the first image is not closer to the vehicle;
the main control system is further configured to take the second lane in the lane image acquired by the camera as the second lane of the current lane after determining that the inner boundary of the second lane in the second image is not closer to the vehicle;
the main control system is further configured to, after determining that the inner boundary of the first lane in the first image coincides with the inner boundary of the first lane in the lane image, take the inner boundary of the first lane in the lane image as the inner boundary of the first lane of the current lane;
the main control system is further used for judging that the inner boundary of the second lane in the second image coincides with the inner boundary of the second lane in the lane image, and then taking the inner boundary of the second lane in the lane image as the inner boundary of the second lane of the current lane.
2. The lane keeping apparatus of a vehicle according to claim 1, characterized in that: the lane keeping apparatus of a vehicle further includes:
the sensor is electrically connected with the master control system and used for detecting the illumination brightness in a preset range in front of the vehicle and uploading the detected brightness value to the master control system;
after the vehicle enters a lane keeping mode, the main control system is used for judging whether the received brightness value uploaded by the sensor is lower than a preset value or not, and turning on the infrared light irradiation device and the hyperspectral photographic device after judging that the brightness value is lower than the preset value:
and the main control system is also used for controlling the vehicle according to the lane image acquired by the camera after judging that the brightness value uploaded by the sensor is not lower than the preset value.
3. The lane keeping apparatus of a vehicle according to claim 1, characterized in that: the lane keeping apparatus further includes: the warning light is arranged on the vehicle center console and electrically connected with the main control system, when the vehicle enters a lane keeping mode, and after the main control system turns on the hyperspectral photographic device, the main control system can turn on the warning light immediately to give an alarm when the main control system fails to acquire an image uploaded by the hyperspectral photographic device, and the main control system is further used for automatically exiting the lane keeping mode while turning on the warning light.
4. A lane keeping method of a vehicle, characterized by comprising the steps of:
acquiring a lane image with traffic lines on two sides in front of a vehicle;
when a vehicle runs, infrared light rays are respectively irradiated to the driving lines on two sides of the lane;
acquiring traffic line images irradiated by infrared light at two sides of a lane;
superposing the acquired lane images on the two sides of the lane to obtain clear lane images with the lanes on the two sides;
the vehicle keeps a lane according to the lane image on which the traffic line image is superimposed;
the driving line images of the two sides of the lane comprise: a first image of a first lane located on one side of the lane, a second image of a second lane located on the other side of the lane;
after the step of superimposing the acquired lane images on the lane images, and before the step of keeping the lane by the vehicle according to the lane images superimposed with the lane images, the method further comprises the following steps:
judging whether the inner boundary of a first traffic line in a first image is superposed with the inner boundary of the first traffic line in the lane image; judging whether the inner boundary of a second traffic line in a second image is superposed with the inner boundary of the first traffic line in the lane image;
after the inner boundary of a first traffic line in a first image is judged not to be coincident with the inner boundary of the first traffic line in the lane image, whether the inner boundary of the first traffic line in the first image is closer to a vehicle or not is continuously judged; after the inner boundary of a second lane in a second image is judged to be not coincident with the inner boundary of the second lane in the lane image, whether the inner boundary of the second lane in the second image is closer to the vehicle or not is continuously judged;
after the inner boundary of the first traffic line in the first image is determined to be closer to the vehicle, taking the inner boundary of the first traffic line in the first image as the inner boundary of the first traffic line of the current lane; after the inner boundary of the second traffic line in the second image is determined to be closer to the vehicle, taking the inner boundary of the second traffic line in the second image as the inner boundary of the second traffic line of the current lane;
after determining that the inner boundary of the first lane in the first image is not closer to the vehicle, the method further comprises the sub-steps of:
taking the first traffic line in the acquired lane image as the first traffic line of a current lane;
after determining that the inner boundary of the second lane in the second image is not closer to the vehicle, the method further comprises the substeps of:
taking the second traffic line in the acquired lane image as the second traffic line of the current lane;
after the inner boundary of the first traffic line in the first image is judged to be overlapped with the inner boundary of the first traffic line in the lane image, the method further comprises the following substeps;
taking the inner boundary of the first traffic line in the lane image as the inner boundary of the first traffic line of the current lane;
after the inner boundary of the second traffic line in the second image is judged to be overlapped with the inner boundary of the second traffic line in the lane image, the method further comprises the following substeps;
and taking the inner boundary of the second traffic line in the lane image as the inner boundary of the second traffic line of the current lane.
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| KR20120045519A (en) * | 2010-10-29 | 2012-05-09 | 주식회사 만도 | Lane keeping control system, lane change control system and vehicle control system |
| CN103991449B (en) * | 2014-06-12 | 2017-01-18 | 北京联合大学 | Vehicle travelling control method and system |
| US9286679B2 (en) * | 2014-07-22 | 2016-03-15 | GM Global Technology Operations LLC | Misalignment correction and state of health estimation for lane management fusion function |
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| US20180075308A1 (en) * | 2016-09-14 | 2018-03-15 | GM Global Technology Operations LLC | Methods And Systems For Adaptive On-Demand Infrared Lane Detection |
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