CN109017813A - A kind of deviation alarm method and device - Google Patents
A kind of deviation alarm method and device Download PDFInfo
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- CN109017813A CN109017813A CN201810618793.1A CN201810618793A CN109017813A CN 109017813 A CN109017813 A CN 109017813A CN 201810618793 A CN201810618793 A CN 201810618793A CN 109017813 A CN109017813 A CN 109017813A
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- Prior art keywords
- deviation
- alarm
- target vehicle
- speed
- current
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Classifications
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W2050/143—Alarm means
Abstract
The embodiment of the present invention provides a kind of deviation alarm method and device, is related to active safe driving ancillary technique field, which includes: the current video frame image for acquiring target vehicle, and calculates the current offset of target vehicle；When detecting that current offset is greater than default bias amount threshold value, determine that deviation occurs for target vehicle；Judge whether this deviation meets alarm rejection condition；If satisfied, determining that this deviation is conscious deviation, then inhibit the alarm for being directed to this deviation；If not satisfied, determining that this deviation is unconscious deviation, then alarm for this deviation.When carrying out deviation alarm using method provided in an embodiment of the present invention, pass through the judgement for rejection condition of alarming, driver is distinguished with the operation of unconscious deviation consciously, and then reduces the false alarm of driveway deviation alarming system, improves the driving experience of driver.
Description
Technical field
The present invention relates to active safe driving ancillary technique field, in particular to a kind of deviation alarm method and dress
It sets.
Background technique
With the continuous development of automotive electronic technology and intellectualized technology, active safe driving auxiliary system is in car steering
In be widely used, driveway deviation alarming system is exactly one such.In practical applications, when deviation is alarmed
When system is in running order, the lane mark that the camera in the system acquires target vehicle institute traveling lane in real time can use
Know line, location parameter of the target vehicle in current lane is obtained based on target image collected, and then according to the position
Parameter is to determine whether occur deviation, and when deviation occurs by controller signal an alert.
As known from the above, the driveway deviation alarming system of above-mentioned offer can be in the feelings of target vehicle run-off-road tag line
Under condition, alarm signal is issued by the Vehicle Controller of driveway deviation alarming system in time, and then can be aobvious by sound or screen
The mode shown reminds driver, to guarantee traffic safety.However, it will be understood that it is to drive that some, which happen deviation,
The operation that the person of sailing takes consciously, such as steering and road etc., above-mentioned driveway deviation alarming system is be easy to cause in this case
False alarm significantly reduces the driving experience of driver.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of deviation alarm method and device, to solve the deviation
Alarm system when driver takes deviation to operate consciously caused by false alarm, to improve the driving experience of driver.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of deviation alarm method, the deviation reports
Alarm method includes:
The current video frame image of target vehicle is acquired, and calculates target vehicle described in the current video frame image
Current offset；
When detecting that the current offset is greater than default bias amount threshold value, it is inclined to determine that lane occurs for the target vehicle
From；
Judge whether this deviation of the target vehicle meets alarm rejection condition；
If satisfied, determining that this deviation is conscious deviation, then inhibit the alarm for being directed to this deviation；
If not satisfied, determining that this deviation is unconscious deviation, then alarm for this deviation.
Preferably, whether described this deviation for judging the target vehicle meets the step of alarm rejection condition,
Include:
When meeting at least one of situation set forth below, determine that this deviation of the target vehicle meets report
Alert rejection condition:
A. brake pressure is greater than preset pressure value；
It B. is that ipsilateral turn signal is opened with this deviation direction；
C. yaw rate is greater than preset angle rate-valve value；
D. double twinkle SM signal lamps are opened；
E. the time interval of the last alarm of distance is less than prefixed time interval threshold value；
F. the alarm of target wheel when last targeted target wheel of alarming currently is alarmed still in the last time
In region.
Preferably, after described the step of being alarmed for this deviation, further includes:
Detection inhibits condition subsequent for whether the alarm of this deviation meets alarm；
When detecting that meeting the alarm inhibits condition subsequent and when the duration reaches default derepression duration, releases
For the inhibition of this deviation alarm.
Preferably, whether the detection meets the step of alarm inhibits condition subsequent for the alarm of this deviation,
Include:
When meeting situation set forth below simultaneously, determine that this deviation of the target vehicle meets alarm and inhibits solution
Except condition:
A. brake pressure is less than the preset value；
It b. is that ipsilateral turn signal is closed with this deviation direction；
C. yaw rate is less than the preset angle rate-valve value；
D. double twinkle SM signal lamps are closed；
E. the time interval of the last alarm of distance is greater than the prefixed time interval threshold value；
F. last targeted target wheel of alarming is not currently in the zone of alarm of target wheel when last alarm
In domain.
Preferably, the step of whether described this deviation for judging the target vehicle meets alarm rejection condition
Before, further includes:
Obtain the current vehicle speed of the target vehicle；
Judge whether the current vehicle speed is greater than the default speed that comes into force of activation driveway deviation alarming system；
If more than, then continue to execute described this deviation for judging the target vehicle whether meet alarm inhibit item
The step of part.
Preferably, when the current vehicle speed no more than it is described it is default come into force speed when, the deviation alarm method is also
Include:
Judge whether the current vehicle speed is less than default floating speed threshold value；
If being less than, inhibit the alarm for being directed to this deviation, and the driveway deviation alarming system entered function is stopped
Dormancy state.
In order to achieve the above objectives, the embodiment of the invention discloses a kind of lane deviation alarm device, the deviation reports
Alarm device includes:
Offset computing module for acquiring the current video frame image of target vehicle, and calculates the current video frame
The current offset of target vehicle described in image；
Deviation determining module, for determining when detecting that the current offset is greater than default bias amount threshold value
Deviation occurs for the target vehicle；
Alarm inhibits judgment module, inhibits item for judging whether this deviation of the target vehicle meets alarm
Part triggers suppression module if meeting, if being unsatisfactory for triggering alarm module；
The suppression module, for inhibiting the alarm for this deviation；
The alarm module, for alarming for this deviation.
Preferably, the lane deviation alarm device, further includes:
Derepression judgment module, for it is described alarmed for this deviation after, detection is directed to this
Whether the alarm of deviation, which meets alarm, inhibits condition subsequent；
Alarm inhibits to release module, for meeting alarm inhibition condition subsequent and the duration reaches pre- when detecting
If when derepression duration, releasing the inhibition for the alarm of this deviation.
Preferably, the lane deviation alarm device, further includes:
Speed obtains module, for obtaining the current vehicle speed of the target vehicle；
Speed judgment module, for judging whether the current vehicle speed is greater than the default life of activation driveway deviation alarming system
Speed is imitated, if more than this train that the alarm inhibits judgment module to continue to execute the judgement target vehicle is then triggered
Whether road deviation meets the step of alarm rejection condition.
Preferably, the lane deviation alarm device, further includes:
Floating speed judgment module, for when the current vehicle speed no more than it is described it is default come into force speed when, described in judgement
Whether current vehicle speed is less than default floating speed threshold value, if being less than, triggers alarm system sleep block；
The alarm system sleep block, for inhibiting the alarm for this deviation, and the deviation report
Alert system entered function dormant state.
Deviation alarm method and device provided in an embodiment of the present invention can obtain target vehicle by camera
Current video frame image, current offset of the target vehicle in current video frame image is calculated based on image processing techniques
Amount, when the size relation according to the current offset and default bias amount threshold value determines that deviation occurs for the target vehicle
In the case where, there is no directly progress Lane Mark deviation warnings, but further judge this lane of the target vehicle
Deviation is the conscious operation of driver or unconscious operation, is determined as when judgement meets preset alarm rejection condition
The conscious operation of driver without carrying out deviation alarm, therefore inhibits the alarm for being directed to this deviation；And works as and sentence
Surely it is unsatisfactory for being determined as the unconscious operation of driver when preset alarm rejection condition, needs to give deviation alarm and mention
It wakes up, therefore alarms for this deviation.To sum up, when carrying out lane using method provided in an embodiment of the present invention
When deviation warning, by the judgement for rejection condition of alarming, driver is operated with unconscious deviation consciously and carries out area
Point, alarm caused by the conscious deviation operation of driver is inhibited, thus reduce deviation alarm system
The false alarm of system improves the driving experience of driver.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of deviation alarm method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another deviation alarm method provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of another deviation alarm method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of lane deviation alarm device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another lane deviation alarm device provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another lane deviation alarm device provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
False alarm caused by order to solve driveway deviation alarming system when driver takes deviation to operate consciously,
And improve the driving experience of driver, the embodiment of the invention provides following deviation alarm method and device, lower kept man of a noblewoman
First deviation alarm method provided in an embodiment of the present invention is introduced.
As shown in Figure 1, being a kind of flow diagram of deviation alarm method provided in an embodiment of the present invention.In general,
Driveway deviation alarming system is mainly made of camera and Vehicle Controller.Camera is generally mounted to vehicle body side or installation
In inside rear-view mirror position, the target image of the Lane Mark of vehicle traveling lane can be acquired using the camera, and should
Target image had carried out calibration, the pixel coordinate system of world coordinate system and camera was demarcated, so as to direct
Location parameter of the target vehicle in pixel coordinate system is obtained from the target image, which indicated with pixel value
Location parameter.
Specifically, the deviation alarm method may comprise steps of:
S101: acquiring the current video frame image of target vehicle, and calculates target described in the current video frame image
The current offset of vehicle.
After driveway deviation alarming system is opened, driveway deviation alarming system is in running order, and camera is to driving at this time
The target vehicle that the person of sailing is driven is monitored, and captures target vehicle according to the frame per second of camera or the frequency acquisition of setting
Current video frame image.It is gone it should be noted that including at least target vehicle in the picture material of the current video frame image
The Lane Mark in lane is sailed, can also include other non-targeted objects such as building, Pedestrians and vehicles.It herein, can be with base
Target image is pre-processed in image processing techniques, such as gray processing, target area extraction and binaryzation；Then, it is based on
The feature extraction Lane Mark of Lane Mark, such as edge extracting is carried out to target image using Boundary extracting algorithm, it obtains
Lane Mark road parameters such as curvature, shape, and then according to location parameter of the target vehicle in pixel coordinate system and
Current offset of the target vehicle in current video frame image is calculated, wherein target in the road parameters of Lane Mark
The location parameter of vehicle may include the angle i.e. yaw angle of the center line of transversal displacement, target vehicle and institute's travel.
In addition, the current offset can also be the yaw angle for deviateing the center line of institute's travel for target vehicle longitudinal central axis line
Angle, specific yaw angle calculation may refer to the calculation method mode disclosed in the prior art, do not do herein
It repeats.
It should be pointed out that " current offset of target vehicle " described herein can be the front left wheel of target vehicle
The lateral distance of the left-hand lane tag line inward flange of deviation or deviation institute's traveling lane, can also be the right side of target vehicle certainly
The lateral distance of the right-hand lane tag line inward flange of institute's traveling lane is biased to or is deviateed to front vehicle wheel；It can also be in advance in target
The lateral distance or target of left/right Lane Mark inward flange are biased to or are deviateed to the reference point chosen on vehicle
Lateral distance between the reference point deviation chosen on vehicle or run-off-road tag line central axes.It should be noted that
Above-mentioned is only several specific implementations to the offset of setting target vehicle, and the embodiment of the present invention is not needed to target
The set-up mode of vehicle is defined.
S102: when detecting that the current offset is greater than default bias amount threshold value, determine that the target vehicle occurs
Deviation.
In a kind of specific implementation, default bias amount threshold value can be set based on experience value, such as can be set pre-
If offset threshold value is 0.1~0.2 times of lane width；Can also according to permitted lateral direction of car close to speed multiplied by permitting
Perhaps default bias amount threshold value is calculated close to the time for maximum transversal, it is assumed that permitted lateral direction of car is 2 close to speed
Meter per second, permitted maximum transversal are 0.6 second close to the time, then it is 1.2 meters that default bias amount threshold value, which is calculated,.
It should be noted that above-mentioned is only two kinds of specific implementations of cited setting default bias amount threshold value,
Certainly there can also be other feasible implementations, the present invention does not limit the specific implementation of setting default bias amount
It is fixed, in addition, the embodiment of the present invention is without to specific value involved in above-mentioned implementation (such as " 0.1~0.2 times ", " 2
Meter per second ", " 0.6 second ", " 1.2 meters ") it is defined, those skilled in the art need according to the specific feelings in practical application
Condition is reasonably arranged.
It is introduced for purposes of illustration only, step S103, S1031 and S1032 are combined together.
S103: judging whether this deviation of the target vehicle meets alarm rejection condition, executes if meeting
Step S1031, if being unsatisfactory for thening follow the steps S1032.
S1031: it determines that this deviation is conscious deviation, then inhibits the alarm for being directed to this deviation；
S1032: it determines that this deviation is unconscious deviation, then alarms for this deviation.
It should be noted that " alarm rejection condition " described herein refers to the deviation report for inhibiting target vehicle
Alert condition.It is understood that in the prior art, when driveway deviation alarming system determines that deviation occurs for target vehicle
When, alarm signal can be provided to remind driver to take corresponding actions.And the purpose of step S103, S1031 and S1032 are,
Judge the deviation of target vehicle on earth and be driver operate consciously as a result, if so, that illustrates this vehicle
Road deviates in the control range of driver, no longer needs to carry out deviation alarm, if carrying out lane in this case
Deviation warning can allow driver to generate irritated mood, and driving experience is bad；If it is not, that illustrates that this deviation is not
It in driver's control range, needs to alarm to the deviation, to remind driver to take appropriate measures, to protect
Confirm the function of the active safe driving auxiliary of existing driveway deviation alarming system.
In a kind of specific implementation, can judge in the following way the target vehicle this deviation whether
Meet alarm rejection condition:
When meeting at least one of situation set forth below, determine that this deviation of the target vehicle meets report
Alert rejection condition:
A. brake pressure is greater than preset pressure value；Preferably, preset pressure value 8bar.
It B. is that ipsilateral turn signal is opened with this deviation direction.
C. yaw rate is greater than preset angle rate-valve value；Preferably, preset angle rate-valve value is 0.6rad/s.
D. double twinkle SM signal lamps are opened.
E. the time interval of the last alarm of distance is less than prefixed time interval threshold value；Preferably, prefixed time interval threshold
Value is 2 seconds.
F. the alarm of target wheel when last targeted target wheel of alarming currently is alarmed still in the last time
In region；Preferably, alarm region is the range that the lateral distance at left and right sides of target vehicle is 0.3 meter.
It should be noted that the preferred embodiment of the above-mentioned only embodiment of the present invention enumerated, should not be constituted to this hair
Bright restriction.It is emphasized that this six kinds tools of A-F for judging whether when meeting alarm rejection condition recited herein
Body situation is to be screened by a large amount of data test and protracted experience accumulation, can perform well in driver
It is distinguished consciously with the operation of unconscious deviation, certainly, determines what the alarm of this deviation of target vehicle inhibited
Situation is not limited to above-mentioned this six kinds listed of A-F, and driver in the art can be according to the specific feelings in practical application
Condition is reasonably arranged, and the concrete condition for determining that the alarm of this deviation of target vehicle inhibits is increased or delete.
It should also be noted that, above-mentioned " the preset pressure value 8bar " referred to, " preset angle rate-valve value be 0.6rad/
S ", " prefixed time interval threshold value is 2 seconds " and " lateral distance is 0.3 meter " are the above-mentioned several concrete conditions enumerated of the present invention
Preferred implementation, the present invention do not need each specific value and are defined, everybody member of technology in the art needs basis
Concrete condition in practical application is reasonably arranged.
Deviation alarm method and device provided in an embodiment of the present invention can obtain target vehicle by camera
Current video frame image, current offset of the target vehicle in current video frame image is calculated based on image processing techniques
Amount, when the size relation according to the current offset and default bias amount threshold value determines that deviation occurs for the target vehicle
In the case where, there is no directly progress Lane Mark deviation warnings, but further judge this lane of the target vehicle
Deviation is the conscious operation of driver or unconscious operation, is determined as when judgement meets preset alarm rejection condition
The conscious operation of driver without carrying out deviation alarm, therefore inhibits the alarm for being directed to this deviation；And works as and sentence
Surely it is unsatisfactory for being determined as the unconscious operation of driver when preset alarm rejection condition, needs to give deviation alarm and mention
It wakes up, therefore alarms for this deviation.To sum up, when carrying out lane using method provided in an embodiment of the present invention
When deviation warning, by the judgement for rejection condition of alarming, driver is operated with unconscious deviation consciously and carries out area
Point, alarm caused by the conscious deviation operation of driver is inhibited, thus reduce deviation alarm system
The false alarm of system improves the driving experience of driver.
As shown in Fig. 2, for the flow diagram of another deviation alarm method provided in an embodiment of the present invention, into one
Step, on the basis of embodiment of the method shown in Fig. 1, after step S1032 alarms for this deviation,
Can with the following steps are included:
S104: detection inhibits condition subsequent for whether the alarm of this deviation meets alarm.
S1041: meet that the alarm inhibits condition subsequent and the duration reaches default derepression duration when detecting
When, release the inhibition for the alarm of this deviation.
It should be noted that " alarm inhibits condition subsequent " described herein refers to for releasing the vehicle for being directed to target vehicle
The condition of road deviation warning.Readily comprehensible, for driveway deviation alarming system, the warning function of the system cannot be always
In holddown, the function of the driveway deviation alarming system is otherwise just lost, therefore also needs meeting certain condition
In the case of the inhibition alarmed this deviation of contact pin.
It should also be noted that, certain time is usually required to deviation alarm, but for deviation
Alarming the duration also should not be too long, otherwise will affect the driving experience of driver.Preferably, when can be by default derepression
Long to be set as 2 seconds, certainly, without being defined to this numerical value, those skilled in the art need according to actually answering the present invention
Concrete condition in is reasonably arranged.
Specifically, whether the alarm that can be detected in the following way for this deviation meets alarm inhibition releasing
Condition:
When meeting situation set forth below simultaneously, determine that this deviation of the target vehicle meets alarm and inhibits solution
Except condition:
A. brake pressure is less than the preset value；Preferably, preset pressure value 5bar.
It b. is that ipsilateral turn signal is closed with this deviation direction.
C. yaw rate is less than the preset angle rate-valve value；Preferably, preset angle rate-valve value is 0.4rad/s.
D. double twinkle SM signal lamps are closed.
E. the time interval of the last alarm of distance is greater than the prefixed time interval threshold value；Preferably, between preset time
Every threshold value be 2 seconds.
F. last targeted target wheel of alarming is not currently in the zone of alarm of target wheel when last alarm
In domain.
It should be noted that it is above-mentioned enumerate be only the embodiment of the present invention several preferred embodiments, should not constitute pair
Restriction of the invention, in addition, determining whether this deviation of target vehicle meets alarm and inhibit the phenomenon that releasing is not limited to
In this six kinds of above-mentioned listed a-f, driver in the art can carry out reasonable according to the concrete condition in practical application
Setting increases or deletes the concrete condition for determining that the alarm of this deviation of target vehicle inhibits releasing.
It should also be noted that, above-mentioned " the preset pressure value 8bar " referred to, " preset angle rate-valve value be 0.6rad/
S ", " prefixed time interval threshold value is 2 seconds " and " lateral distance is 0.3 meter " are the above-mentioned several concrete conditions enumerated of the present invention
Preferred implementation, the present invention do not need each specific value and are defined, everybody member of technology in the art needs basis
Concrete condition in practical application is reasonably arranged.
As shown in figure 3, the flow diagram of another deviation alarm method is provided for the embodiment of the present invention, in Fig. 1
On the basis of shown embodiment of the method, before step S103, the deviation alarm method can also include following step
It is rapid:
S105: the current vehicle speed of the target vehicle is obtained.
In a kind of implementation, can by Vehicle Controller based on CAN bus from the entire car controller of whole-control system
The current vehicle speed is obtained, specifically, the entire car controller in whole-control system can use entire car controller system Central Plains
Some vehicle speed sensor acquire the current vehicle speed of target vehicle in real time, and collected current vehicle speed is sent to vehicle in real time
Controller；In another implementation, a vehicle speed sensor can also be arranged in driveway deviation alarming system, and then can be with
It acquires the current vehicle speed of target vehicle in real time using the vehicle speed sensor, and the collected target vehicle speed of institute is sent in real time
Vehicle Controller.It should be noted that the concrete mode of both current vehicle speeds for obtaining target vehicle is all feasible, this hair
Bright do not limit using which kind of mode acquires current vehicle speed, certainly can also be in the art by other feasible implementations
Technical staff can be reasonably arranged according to the concrete condition in practical application.
S1051: judging whether the current vehicle speed is greater than the default speed that comes into force for activating the driveway deviation alarming system,
If more than then continuing to execute step S103.
It should be noted that driveway deviation alarming system is provided with 2 kinds of states: state of activation and function dormant state.It can
With understanding, for the vehicle run at high speed, the danger occurred when deviation occurs for vehicle is more serious, because
This driveway deviation alarming system needs are active, and for the vehicle run at a low speed, due to its vehicle driving speed
Spend low, when deviation occurs, driver has time enough to carry out lane to return correction, therefore for energy-efficient needs, this
When driveway deviation alarming system may be at function dormant state.And " the default speed that comes into force " mentioned in step S1051 refers to
Be exactly minimum speed numerical value that driveway deviation alarming system enters state of activation, it is in other words, only current when target vehicle
When speed is greater than the numerical value of the default speed that comes into force, driveway deviation alarming system can be activated, and it is inclined just to carry out lane
From alarm；And when numerical value of the current vehicle speed of target vehicle no more than the default speed that comes into force, at driveway deviation alarming system
In function dormant state.
In a kind of specific implementation, when the current vehicle speed no more than it is described it is default come into force speed when, the lane is inclined
From alarm method can with the following steps are included:
S1052: judge whether the current vehicle speed is less than default floating speed threshold value and thens follow the steps if being less than
S1053。
S1053: inhibit the alarm for being directed to this deviation, and the driveway deviation alarming system entered function suspend mode shape
State.
It should be noted that the considerations of for system stability, driveway deviation alarming system comes into force default in order to prevent
The problem of numerical value of speed floats up and down and system repeatedly is caused to be activated, be provided with herein default floating speed threshold value into
Row judgement inhibits the report for being directed to this deviation when the current vehicle speed of target vehicle is lower than the default floating speed threshold value
It is alert, while driveway deviation alarming system entered function dormant state.
Preferably, it presets floating speed threshold value and is set as 55kph, it should be noted that this is only a kind of preferred implementation side
Formula, the present invention do not limit the specific value of Floating Car speed threshold value, but it should be recognized that default floating speed threshold value and default life
The difference for imitating speed should not be too big, is otherwise easy to cause the numerical value of floating speed threshold value too low, and does not have system stability
Purpose.
Lane deviation alarm device provided in an embodiment of the present invention is illustrated again below.
As shown in figure 4, being a kind of lane deviation alarm device provided in an embodiment of the present invention, correspond to side shown in FIG. 1
Method embodiment, the lane deviation alarm device may include with lower module:
Offset computing module 210 for acquiring the current video frame image of target vehicle, and calculates the current video
The current offset of target vehicle described in frame image；
Deviation determining module 220, for when detect the current offset be greater than default bias amount threshold value when, really
Deviation occurs for the fixed target vehicle；
Alarm inhibits judgment module 230, for judging whether this deviation of the target vehicle meets alarm suppression
Condition processed triggers suppression module 231 if meeting, if being unsatisfactory for triggering alarm module 232；
The suppression module 231, for inhibiting the alarm for this deviation；
The alarm module 232, for alarming for this deviation.
In a kind of specific implementation, the alarm inhibits judgment module 230, is specifically used for:
When meeting at least one of situation set forth below, determine that this deviation of the target vehicle meets report
Alert rejection condition:
A. brake pressure is greater than preset pressure value；
It B. is that ipsilateral turn signal is opened with this deviation direction；
C. yaw rate is greater than preset angle rate-valve value；
D. double twinkle SM signal lamps are opened；
E. the time interval of the last alarm of distance is less than prefixed time interval threshold value；
F. the alarm of target wheel when last targeted target wheel of alarming currently is alarmed still in the last time
In region.
As shown in figure 5, for the structural schematic diagram of another lane deviation alarm device provided in an embodiment of the present invention, relatively
In embodiment of the method as shown in Figure 2, further, on the basis of Installation practice shown in Fig. 4, deviation alarm
Device can also comprise the following modules:
Derepression judgment module 240, for it is described alarmed for this deviation after, detection is for this
Whether the alarm of secondary deviation, which meets alarm, inhibits condition subsequent；
Alarm inhibits to release module 241, for meeting alarm inhibition condition subsequent and the duration reaches when detecting
When to default derepression duration, the inhibition for the alarm of this deviation is released.
In a kind of specific implementation, derepression judgment module 240 is specifically used for:
When meeting situation set forth below simultaneously, determine that this deviation of the target vehicle meets alarm and inhibits solution
Except condition:
A. brake pressure is less than the preset value；
It b. is that ipsilateral turn signal is closed with this deviation direction；
C. yaw rate is less than the preset angle rate-valve value；
D. double twinkle SM signal lamps are closed；
E. the time interval of the last alarm of distance is greater than the prefixed time interval threshold value；
F. last targeted target wheel of alarming is not currently in the zone of alarm of target wheel when last alarm
In domain.
In a kind of implementation, as shown in fig. 6, be another lane deviation alarm device provided in an embodiment of the present invention,
Relative to embodiment of the method as shown in Figure 3, which can also be comprised the following modules:
Speed obtains module 250, for obtaining the current vehicle speed of the target vehicle；
Speed judgment module 251, for judging whether the current vehicle speed is greater than the activation driveway deviation alarming system
The default speed that comes into force, if more than then triggering the alarm and judgment module 230 being inhibited to continue to execute the judgement target carriage
This deviation whether meet alarm rejection condition the step of.
In a kind of specific implementation, lane deviation alarm device can also be comprised the following modules:
Floating speed judgment module 252, for when the current vehicle speed no more than it is described it is default come into force speed when, judge institute
It states whether current vehicle speed is less than default floating speed threshold value, if being less than, triggers alarm system sleep block 253；
The alarm system sleep block 253, for inhibiting the alarm for this deviation, and the deviation
Alarm system entered function dormant state.
Deviation alarm scheme provided in an embodiment of the present invention can obtain the current of target vehicle by camera
Video frame images calculate current offset of the target vehicle in current video frame image based on image processing techniques, when
It determines the target vehicle according to the size relation of the current offset and default bias amount threshold value and the feelings of deviation occurs
Under condition, there is no directly progress Lane Mark deviation warnings, but further judge this deviation of the target vehicle
It is the conscious operation of driver or unconscious operation, is judged to driving when judgement meets preset alarm rejection condition
The conscious operation of member without carrying out deviation alarm, therefore inhibits the alarm for being directed to this deviation；And works as and determine not
It is determined as the unconscious operation of driver when meeting preset alarm rejection condition, needs to give deviation warning reminding, because
This alarms for this deviation.To sum up, when carrying out deviation using scheme provided in an embodiment of the present invention
When alarm, by the judgement for rejection condition of alarming, driver is distinguished with the operation of unconscious deviation consciously, it will
Alarm caused by the conscious deviation operation of driver inhibits, thus reduces the mistake of driveway deviation alarming system
Alarm, improves the driving experience of driver.
For device embodiment, since it is substantially similar to the method embodiment, related so describing fairly simple
Place illustrates referring to the part of embodiment of the method.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Those of ordinary skill in the art will appreciate that all or part of the steps in realization above method embodiment is can
It is completed with instructing relevant hardware by program, the program can store in computer-readable storage medium,
Storage medium designated herein, such as: ROM/RAM, magnetic disk, CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of deviation alarm method, which is characterized in that the deviation alarm method includes:
The current video frame image of target vehicle is acquired, and calculates the current of target vehicle described in the current video frame image
Offset；
When detecting that the current offset is greater than default bias amount threshold value, determine that deviation occurs for the target vehicle；
Judge whether this deviation of the target vehicle meets alarm rejection condition；
If satisfied, determining that this deviation is conscious deviation, then inhibit the alarm for being directed to this deviation；
If not satisfied, determining that this deviation is unconscious deviation, then alarm for this deviation.
2. deviation alarm method according to claim 1, which is characterized in that the sheet of the judgement target vehicle
Whether secondary deviation meets the step of alarm rejection condition, comprising:
When meeting at least one of situation set forth below, determine that this deviation of the target vehicle meets alarm suppression
Condition processed:
A. brake pressure is greater than preset pressure value；
It B. is that ipsilateral turn signal is opened with this deviation direction；
C. yaw rate is greater than preset angle rate-valve value；
D. double twinkle SM signal lamps are opened；
E. the time interval of the last alarm of distance is less than prefixed time interval threshold value；
F. the alarm region of target wheel when last targeted target wheel of alarming currently is alarmed still in the last time
It is interior.
3. deviation alarm method according to claim 1 or 2, which is characterized in that described inclined for this lane
After the step of being alarmed, further includes:
Detection inhibits condition subsequent for whether the alarm of this deviation meets alarm；
When detecting that meeting the alarm inhibits condition subsequent and when the duration reaches default derepression duration, releasing is directed to
The inhibition of this deviation alarm.
4. deviation alarm method according to claim 3, which is characterized in that the detection is directed to this deviation
Alarm whether meet alarm inhibit condition subsequent the step of, comprising:
When meeting situation set forth below simultaneously, determine that this deviation of the target vehicle meets alarm and inhibits to release item
Part:
A. brake pressure is less than the preset value；
It b. is that ipsilateral turn signal is closed with this deviation direction；
C. yaw rate is less than the preset angle rate-valve value；
D. double twinkle SM signal lamps are closed；
E. the time interval of the last alarm of distance is greater than the prefixed time interval threshold value；
F. last targeted target wheel of alarming is not currently in when last alarm in the alarm region of the target wheel.
5. deviation alarm method according to claim 1 or 2, which is characterized in that in the judgement target carriage
This deviation whether meet alarm rejection condition the step of before, further includes:
Obtain the current vehicle speed of the target vehicle；
Judge whether the current vehicle speed is greater than the default speed that comes into force of activation driveway deviation alarming system；
If more than then continuing to execute whether described this deviation for judging the target vehicle meets alarm rejection condition
Step.
6. deviation alarm method according to claim 5, which is characterized in that when the current vehicle speed is no more than described
It is default come into force speed when, the deviation alarm method further include:
Judge whether the current vehicle speed is less than default floating speed threshold value；
If being less than, inhibit the alarm for being directed to this deviation, and the driveway deviation alarming system entered function suspend mode shape
State.
7. a kind of lane deviation alarm device, which is characterized in that the lane deviation alarm device includes:
Offset computing module for acquiring the current video frame image of target vehicle, and calculates the current video frame image
Described in target vehicle current offset；
Deviation determining module, described in determining when detecting that the current offset is greater than default bias amount threshold value
Deviation occurs for target vehicle；
Alarm inhibits judgment module, for judging whether this deviation of the target vehicle meets alarm rejection condition,
Suppression module is triggered if meeting, if being unsatisfactory for triggering alarm module；
The suppression module, for inhibiting the alarm for this deviation；
The alarm module, for alarming for this deviation.
8. lane deviation alarm device according to claim 7, which is characterized in that further include:
Derepression judgment module, for it is described alarmed for this deviation after, detection is directed to this lane
Whether the alarm of deviation, which meets alarm, inhibits condition subsequent；
Alarm inhibits to release module, for meeting alarm inhibition condition subsequent and the duration reaches default solution when detecting
When except inhibiting duration, the inhibition for the alarm of this deviation is released.
9. lane deviation alarm device according to claim 7, which is characterized in that further include:
Speed obtains module, for obtaining the current vehicle speed of the target vehicle；
Speed judgment module, for judging whether the current vehicle speed is greater than the default vehicle that comes into force of activation driveway deviation alarming system
Speed, if more than it is inclined then to trigger this lane that the alarm inhibits judgment module to continue to execute the judgement target vehicle
From whether meet alarm rejection condition the step of.
10. lane deviation alarm device according to claim 9, which is characterized in that further include:
Floating speed judgment module, for when the current vehicle speed no more than it is described it is default come into force speed when, judge it is described currently
Whether speed is less than default floating speed threshold value, if being less than, triggers alarm system sleep block；
The alarm system sleep block, for inhibiting the alarm for this deviation, and deviation alarm system
System entered function dormant state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810618793.1A CN109017813A (en) | 2018-06-14 | 2018-06-14 | A kind of deviation alarm method and device |
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| CN201810618793.1A CN109017813A (en) | 2018-06-14 | 2018-06-14 | A kind of deviation alarm method and device |
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| CN111507126A (en) * | 2019-01-30 | 2020-08-07 | 杭州海康威视数字技术股份有限公司 | Alarming method and device of driving assistance system and electronic equipment |
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| CN112606844A (en) * | 2020-12-28 | 2021-04-06 | 联创汽车电子有限公司 | LDW repeated alarm suppression method, controller, system and storage medium |
| CN113386785A (en) * | 2019-07-03 | 2021-09-14 | 北京百度网讯科技有限公司 | Method and apparatus for displaying augmented reality alert information |
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Address after: 230601 No. 99 Ziyun Road, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Anhui Jianghuai Automobile Group Limited by Share Ltd Address before: 230601 No. 669 Shixin Road, Taohua Industrial Park, Hefei City, Anhui Province Applicant before: Anhui Jianghuai Automobile Group Limited by Share Ltd |
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