CN109421708B - Lane line deviation alarm method and device - Google Patents
Lane line deviation alarm method and device Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
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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
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Abstract
The disclosure relates to a lane line deviation alarm method and device. The method comprises the following steps: acquiring a road surface image in front of a vehicle; determining a lane line in the road surface image; and when the lane line passes through the inside of a circle which takes the point of the preset position as the center of the circle and takes the preset distance threshold value as the radius, alarming the lane line deviation. Therefore, compared with a complex algorithm applied to commonly used lane line deviation judgment, the method and the device provided by the disclosure have the advantages of simple operation and high speed, so that the response speed of alarming is increased, and the safety of vehicle driving is improved.
Description
Technical Field
The disclosure relates to the field of vehicle auxiliary driving, in particular to a lane line deviation alarming method and device.
Background
At present, with the increasing popularization of vehicles and the increasing intellectualization of electronic devices, various vehicle driving assistance systems, such as a lane departure warning system, an automatic parking assistance system, a brake assistance system, a backing assistance system, a driving assistance system, and the like, have come into play. The auxiliary driving systems greatly facilitate the driving of people, reduce the burden of drivers and enhance the driving safety.
The lane departure warning system is a system for assisting a driver in reducing traffic accidents caused by lane departure by means of warning. When the vehicle runs, the sensor can acquire vehicle data and the operation state of the driver in real time, and when the vehicle is detected to deviate from a lane, the controller sends out an alarm signal, so that more reaction time can be provided for the driver. If the driver turns on the steering lamp and normally drives in a lane-changing mode, the lane departure warning system does not give any prompt.
Disclosure of Invention
The purpose of the disclosure is to provide a simple and practical lane line deviation alarm method and device.
In order to achieve the above object, the present disclosure provides a lane line deviation warning method. The method comprises the following steps: acquiring a road surface image in front of a vehicle; determining a lane line in the road surface image; and when the lane line passes through the inside of a circle which takes the point of the preset position as the center of the circle and takes the preset distance threshold value as the radius, alarming the lane line deviation.
Optionally, the lane line includes a left lane line and a right lane line, the distance threshold includes a left distance threshold and a right distance threshold, and the step of giving an alarm of lane line deviation when the lane line passes through the inside of a circle with a point of the predetermined position as a center and the predetermined distance threshold as a radius includes: and when the left lane line passes through the circle with the point of the preset position as the center of the circle and the left distance threshold value as the radius, or when the right lane line passes through the circle with the point of the preset position as the center of the circle and the right distance threshold value as the radius, giving an alarm on lane line deviation.
Optionally, the lane line includes a left lane line and a right lane line, the distance threshold includes a left distance threshold and a right distance threshold, and before the step of giving an alarm of lane line deviation when the lane line passes through the inside of a circle having a point of the predetermined position as a center and a radius of the predetermined distance threshold, the method further includes: acquiring a wheel steering angle of the vehicle; dividing the road surface image into a left image and a right image with a straight line passing through the point of the predetermined position and having a direction in accordance with the wheel steering angle;
wherein, when the lane line passes through the inside of a circle which takes a point of a preset position as the center of the circle and takes a preset distance threshold value as the radius, the step of giving an alarm of lane line deviation comprises the following steps: and when the left lane line passes through the point of the preset position in the left image as the center of a circle and the left distance threshold value is used as the inside of the semicircle of the radius, or when the right lane line passes through the point of the preset position in the right image as the center of a circle and the right distance threshold value is used as the inside of the semicircle of the radius, performing lane line deviation alarm.
Optionally, before the step of acquiring an image of a road surface in front of the vehicle, the method further comprises: when an identification instruction is received, identifying points with preset characteristics in the road surface image; determining the distance between the point with the predetermined characteristic and the circle center as the predetermined distance threshold.
Optionally, before the step of acquiring an image of a road surface in front of the vehicle, the method further comprises: receiving a distance threshold instruction; and determining a plurality of distance thresholds corresponding to a plurality of alarm levels according to the distance threshold instruction.
The present disclosure also provides a lane line deviation warning device. The device comprises: the image acquisition module is used for acquiring a road surface image in front of the vehicle; the lane line determining module is connected with the image acquiring module and used for determining a lane line in the road surface image; and the alarm module is connected with the lane line determining module and used for giving an alarm when the lane line passes through the inside of a circle which takes a point of a preset position as the center of the circle and takes a preset distance threshold value as the radius.
Through the technical scheme, the circle center and the radius are selected through experience or test to draw a circle, and whether the lane line deviates or has a deviation danger can be judged simply through whether the lane line in the road surface image passes through the circle. Therefore, compared with a complex algorithm applied to commonly used lane line deviation judgment, the method and the device provided by the disclosure have the advantages of simple operation and high speed, so that the response speed of alarming is increased, and the safety of vehicle driving is improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a lane line departure warning method provided by an exemplary embodiment;
FIGS. 2 and 3 are schematic diagrams of road surface images provided by two exemplary embodiments, respectively;
FIG. 4 is a flow chart of a lane line departure warning method provided by another exemplary embodiment;
FIG. 5 is a schematic illustration of a road surface image provided by yet another exemplary embodiment;
FIG. 6 is a schematic illustration of a road surface image provided by yet another exemplary embodiment;
FIG. 7 is a flow chart of a lane line departure warning method provided by yet another exemplary embodiment;
FIG. 8 is a schematic illustration of a road surface image in the embodiment of FIG. 7;
FIG. 9 is a flowchart of a lane line departure warning method provided by yet another exemplary embodiment;
FIG. 10 is a schematic illustration of the placement of markers in a personalized setting provided by an exemplary embodiment;
FIG. 11 is a flowchart of a lane line departure warning method provided by yet another exemplary embodiment;
fig. 12 is a block diagram of a lane line deviation warning device according to an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional words such as "left, right, front" generally refers to the orientation relative to the driver, unless stated to the contrary.
Fig. 1 is a flowchart of a lane line departure warning method according to an exemplary embodiment. As shown in fig. 1, the method may include the following steps.
In step S11, a road surface image in front of the vehicle is acquired.
In step S12, a lane line is determined in the road surface image.
In step S13, when the lane line passes through the inside of a circle having a predetermined distance threshold as a radius, centered at a point of a predetermined position, a lane line deviation alarm is issued.
Wherein, can acquire the road surface image in front of the vehicle through the camera. The camera may be mounted on a front bumper of the vehicle. The road surface image may include an image of the road surface and the environment in front of the vehicle. The lane lines in cities or highways are mostly obvious and are easy to identify in road surface images. The lane lines in the road surface image can be identified by a variety of commonly used image processing methods. When the vehicle normally travels within the lane lines, two lane lines on the left and right of the vehicle can be identified from the road surface image.
The circle center can be a point arbitrarily selected from the road surface image, and can also be selected according to experiments or experiences. Preferably, in the rectangular road surface image, a midpoint on the lower edge of the rectangle may be selected as a center of the circle.
The predetermined distance threshold may be obtained experimentally with a determined center of the circle. The value of the preset distance threshold is related to the installation position of the camera. For example, when the camera is mounted in front of the vehicle and the distance between the camera and the two sides of the vehicle is equal, the vehicle is stopped on the road surface, and the front and rear wheels on the left side are both close to the lane line, the shortest distance between the lane line on the left side and the center of the circle in the road surface image can be used as the predetermined distance threshold. Thus, when the lane line in the road image passes through the inside of the circle, the fact that the wheel presses the lane line and the lane line deviates can be indicated, and then the lane line deviation alarm can be carried out.
Fig. 2 and 3 are schematic views of road surface images provided by two exemplary embodiments, respectively. As shown in fig. 2, a circle (half of which is outside the road surface image) is indicated in the road surface image with the center point O of the lower edge of the rectangular road surface image as the center point and a predetermined distance threshold R as the radius. In the embodiment of fig. 2, the lane lines are all outside the circle and do not pass through the circle. Therefore, it can be determined that the vehicle is traveling within the lane line. In the embodiment of fig. 3, the lane line on the left has already passed through this circle. At this time, it is determined that the vehicle has deviated from the lane line, and a lane line deviation alarm may be performed. The embodiment in fig. 2 and 3 may be the case when the mounting position of the camera is equal to the distance on both sides of the vehicle.
Through the technical scheme, the circle center and the radius are selected through experience or test to draw a circle, and whether the lane line deviates or has a deviation danger can be judged simply through whether the lane line in the road surface image passes through the circle. Therefore, compared with a complex algorithm applied to commonly used lane line deviation judgment, the method and the device provided by the disclosure have the advantages of simple operation and high speed, so that the response speed of alarming is increased, and the safety of vehicle driving is improved.
When the vehicle travels within the lane lines, two lane lines may appear in the road surface image. Fig. 4 is a flowchart of a lane line departure warning method according to another exemplary embodiment. In this embodiment, the lane lines may include a left lane line and a right lane line, and the distance threshold may include a left distance threshold and a right distance threshold. As shown in fig. 4, the step of performing the lane line deviation warning (step S13) may include step S131 when the lane line passes through the inside of a circle having a predetermined distance threshold as a radius, centered at a point of a predetermined position, on the basis of fig. 1.
In step S131, when the left lane line passes through the inside of a circle having a point at a predetermined position as the center and a left distance threshold as the radius, or when the right lane line passes through the inside of a circle having a point at a predetermined position as the center and a right distance threshold as the radius, a lane line deviation warning is performed.
The left distance threshold and the right distance threshold are respectively influenced by the installation position of the camera. If the camera is equidistant from both sides of the vehicle, the left and right distance thresholds may be set the same, as shown in fig. 2 and 3. If the distance between the camera and the two sides of the vehicle is not equal, the left distance threshold value and the right distance threshold value can be set to different values.
FIG. 5 is a schematic illustration of a road surface image provided by yet another exemplary embodiment. As shown in fig. 5, radius R is the left distance threshold and radius R is the right distance threshold. In actual operation, the left lane line is referenced to a solid line semicircle with a radius R, and the right lane line is referenced to a dashed line semicircle with a radius R. That is, when the left lane line passes through the solid line circle, or the right lane line passes through the broken line circle, the lane line deviation warning is performed.
In this embodiment, the left lane line and the right lane line respectively adopt respective distance thresholds to alarm lane line deviation, so that the installation position of the camera is flexible and adjustable, and the camera may not be arranged at a point with the same distance from both sides of the vehicle. Therefore, the requirement on the installation position of the camera is reduced, and the method has wider applicability.
FIG. 6 is a schematic illustration of a road surface image provided by yet another exemplary embodiment. As shown in fig. 6, the road surface image is divided into left and right halves by a vertical line OM passing through the center of the circle. Only a quarter circle of radius R is shown on the left and only a quarter circle of radius R is shown on the right. The left lane line is referenced to only a quarter circle of radius R, and the right lane line is referenced to only a quarter circle of radius R. Compared with the embodiment of fig. 5, the embodiment of fig. 6 has a more concise picture, so that the driver can more intuitively and vividly know the distance condition of the current lane line.
When the vehicle turns, it is also possible to take into account the steering angle of the wheels, with the steering angle as a reference factor, to divide the range in which each of the left and right lane lines is used for graphics processing. Fig. 7 is a flowchart of a lane line departure warning method according to yet another exemplary embodiment. In this embodiment, the lane lines include a left lane line and a right lane line, and the distance threshold includes a left distance threshold and a right distance threshold. As shown in fig. 7, on the basis of fig. 1, before the step of performing the lane line deviation warning (step S13) when the lane line passes through the inside of a circle having a predetermined distance threshold as a radius, centered at a point of a predetermined position, the method may further include the following steps.
In step S01, a wheel steering angle of the vehicle is acquired.
In step S02, the road surface image is divided into a left image and a right image with a straight line passing through a point of a predetermined position and having a direction in accordance with the wheel steering angle.
In this embodiment, the step of performing the lane line deviation warning (step S13) may include step S132 when the lane line passes through the inside of a circle having a point of the predetermined position as the center and a predetermined distance threshold as the radius.
In step S132, when the left lane line passes through the inside of the semicircle having the predetermined position as the center of the circle in the left image and the left distance threshold as the radius, or when the right lane line passes through the inside of the semicircle having the predetermined position as the center of the circle in the right image and the right distance threshold as the radius, a lane line deviation alarm is performed.
In fig. 7, steps S01 and S02 are after step S12, and steps S01 and S02 may be in other positions before step S132 in other embodiments.
Fig. 8 is a schematic diagram of a road surface image in the embodiment of fig. 7. As shown in fig. 8, the road surface image is divided into left and right halves by a straight line OA passing through the center O. An angle α between the straight line OA and the vertical direction (the direction of the dotted line OM) is a steering angle of the wheel. A semicircle of radius R leaves its portion to the left of line OA, and a circle of radius R leaves its portion to the right of line OA. And when the left lane line passes through the inside of the circular arc with the radius of R, or the right lane line passes through the inside of the circular arc with the radius of R, giving an alarm of lane line deviation.
The wheel steering angle can be directly detected by a sensor, and can also be calculated by the steering wheel steering angle. The proportional relationship between the steering angle of the steering wheel and the steering angle of the wheels can be obtained by a test method. For example, the number of turns of the steering wheel of the vehicle from return to dead striking can be counted in advance, and the wheel steering angle when the steering wheel is dead striking can be measured, so that the proportional relationship between the two can be calculated. Based on this, when the steering wheel steering angle is detected, the wheel steering angle can be calculated.
In this embodiment, the image processing ranges of the left and right lane lines are divided in the direction of the wheel turning angle in consideration of the influence when the vehicle turns, so that the judgment of lane line deviation is more accurate. When a straight line in the direction of the steering angle of the wheels is displayed on the screen, the driver can more intuitively understand the lane line deviation situation at the time of steering.
In the above embodiment, it may be configured which position of which model the camera is installed at the time of shipment of the vehicle. Therefore, before the vehicle leaves the factory, technicians determine the circle center and the radius through a test method and set the circle center and the radius. That is, the user does not need to determine a predetermined distance threshold by himself or herself, and the lane line deviation warning device does not need to be provided with a module for interaction if the vehicle type and the installation position are not changed.
In some embodiments, the installation position of the camera may be changed according to the user's needs, or the user may apply the lane line deviation warning device to other vehicle types. This requires a module for interaction in the lane departure warning apparatus to receive the user's personalized settings.
Fig. 9 is a flowchart of a lane line departure warning method according to yet another exemplary embodiment. As shown in fig. 9, on the basis of fig. 1, before the step of acquiring the road surface image in front of the vehicle (step S11), the method may further include the following steps.
In step S03, upon receiving an identification instruction, a point having a predetermined feature in the road surface image is identified.
In step S04, the distance between the point having the predetermined characteristic and the center of the circle is determined as the predetermined distance threshold.
A feature (e.g., red) recognizable in the acquired image may be set at the time of shipment of the alarm device. When the user instructs image recognition, a point having the feature in the image can be recognized. Fig. 10 is a schematic diagram of the placement of markers in a personalized setting provided by an exemplary embodiment. As shown in fig. 10, when performing the personalized setting, the user may stop the vehicle at the left lane line side so that both the left front wheel and the left rear wheel are in close contact with the left lane line. And then placing the red marker P on the left lane line, so that the connecting line of the camera Q and the red marker P is perpendicular to the left lane line.
When the red marker is recognized in the road surface image, the warning device sets the distance between the recognized point and the origin as the predetermined distance threshold, that is, the radius of the reference circle for the left lane line. The predetermined distance threshold may be used for both left and right lane lines when the camera is positioned at the same distance from the left and right sides of the vehicle.
In the embodiment, the user can perform personalized setting through interaction with the alarm device, so that the installation position of the camera can be determined according to the intention of the user. Therefore, the installation position of the camera is more flexible, and the alarm method is more widely applied.
Fig. 11 is a flowchart of a lane line departure warning method according to yet another exemplary embodiment. As shown in fig. 11, on the basis of fig. 1, before the step of acquiring the road surface image in front of the vehicle (step S11), the method may further include the following steps.
In step S05, a distance threshold instruction is received.
In step S06, a predetermined distance threshold and its corresponding alarm level are determined based on the distance threshold command.
Wherein the predetermined distance threshold may comprise a plurality of distance thresholds. Wherein the distance threshold instruction may be a coefficient. That is, when one of the distance thresholds is set in advance when the vehicle leaves the factory, the user may choose to add a plurality of distance thresholds, and the newly added distance threshold may be in a fixed ratio to the set distance threshold.
For example, a predetermined threshold value may have been set at the factory of an alarm device, and when the lane line is tangent to a circle whose radius is the predetermined distance threshold value, the lane line is just at the edge of the wheel. The distance threshold values of 1.2 times and 1.4 times can be input in the interface by the user selection, so that when the lane line passes through the circle with the radius of the distance threshold value of 1.2 times, secondary early warning is carried out, when the lane line passes through the circle with the radius of the distance threshold value of 1.4 times, tertiary early warning is carried out, and when the lane line passes through the circle with the radius of the preset distance threshold value, primary early warning is carried out. According to the emergency degree of the early warning, the frequency of the early warning can be higher and higher so as to prompt the increase of the emergency degree. In addition, in the road surface image, different radiuses can be distinguished by different colors, so that the driver can know the current lane line condition more intuitively.
In the embodiment, a user can independently set a plurality of distance thresholds, so that the early warning of the lane line can meet the requirements of different drivers under different conditions, and the warning of lane line deviation has better hierarchy.
The present disclosure also provides a lane line deviation warning device. Fig. 12 is a block diagram of a lane line deviation warning device according to an exemplary embodiment. As shown in fig. 12, the lane line deviation warning device 10 may include an image acquisition module 11, a lane line determination module 12, and a warning module 13.
The image acquisition module 11 is used for acquiring an image of a road surface in front of the vehicle.
The lane line determining module 12 is connected to the image acquiring module 11, and is configured to determine a lane line in the road surface image.
The alarm module 13 is connected to the lane line determination module 12, and configured to alarm lane line deviation when the lane line passes through the inside of a circle having a point at a predetermined position as a center and a predetermined distance threshold as a radius.
Optionally, the lane lines include a left lane line and a right lane line, and the distance threshold includes a left distance threshold and a right distance threshold. The alarm module 13 may include a first alarm sub-module.
The first alarm submodule is used for carrying out lane line deviation alarm when a left lane line passes through the inside of a circle which takes a point of a preset position as the center of a circle and takes a distance threshold value on the left side as the radius, or when a right lane line passes through the inside of a circle which takes a point of a preset position as the center of a circle and takes a distance threshold value on the right side as the radius.
Optionally, the lane lines include a left lane line and a right lane line, and the distance threshold includes a left distance threshold and a right distance threshold. The apparatus 10 may also include a steering angle acquisition module and a dividing module.
The steering angle acquisition module is used for acquiring the steering angle of wheels of the vehicle.
The dividing module is connected with the steering angle acquisition module and is used for dividing the road surface image into a left image and a right image by a straight line which passes through a point of a preset position and has the direction consistent with the steering angle of the wheels.
Wherein the alarm module 13 may comprise a first alarm submodule. The first alarm submodule is used for carrying out lane line deviation alarm when a left lane line passes through the point of a preset position in the left image as the center of a circle and the inside of a semicircle with the radius of the left distance threshold value, or when a right lane line passes through the point of the preset position in the right image as the center of a circle and the inside of the semicircle with the radius of the right distance threshold value.
Optionally, the apparatus 10 may further include an identification module and a first distance threshold determination module.
The identification module is used for identifying points with preset characteristics in the road surface image when receiving the identification instruction.
The first distance threshold determination module is connected with the identification module and is used for determining the distance between the point with the preset characteristic and the circle center as a preset distance threshold.
Optionally, the apparatus 10 may further include an instruction receiving module and a second distance threshold determining module.
The instruction receiving module is used for receiving a distance threshold instruction.
The second distance threshold determining module is connected with the instruction receiving module and used for determining a plurality of distance thresholds corresponding to the plurality of alarm levels according to the distance threshold instructions.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Through the technical scheme, the circle center and the radius are selected through experience or test to draw a circle, and whether the lane line deviates or has a deviation danger can be judged simply through whether the lane line in the road surface image passes through the circle. Therefore, compared with a complex algorithm applied to commonly used lane line deviation judgment, the method and the device provided by the disclosure have the advantages of simple operation and high speed, so that the response speed of alarming is increased, and the safety of vehicle driving is improved.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (8)
1. A lane line deviation warning method, characterized by comprising:
acquiring a road surface image in front of a vehicle;
determining lane lines in the road surface image, wherein the lane lines comprise a left lane line and a right lane line;
and when the left lane line passes through the inside of a circle which takes the point of the preset position as the center of the circle and takes the left distance threshold value as the radius, or when the right lane line passes through the inside of a circle which takes the point of the preset position as the center of the circle and takes the right distance threshold value as the radius, giving an alarm on lane line deviation.
2. The method according to claim 1, wherein before the step of performing the lane line departure warning when the left lane line passes through an inside of a circle having a point at a predetermined position as a center and a left distance threshold as a radius, or when the right lane line passes through an inside of a circle having a point at a predetermined position as a center and a right distance threshold as a radius, the method further comprises:
acquiring a wheel steering angle of the vehicle;
dividing the road surface image into a left image and a right image with a straight line passing through the point of the predetermined position and having a direction in accordance with the wheel steering angle;
wherein, when the left lane line passes through the inside of a circle with a predetermined position as the center of a circle and a left distance threshold as the radius, or when the right lane line passes through the inside of a circle with a predetermined position as the center of a circle and a right distance threshold as the radius, the step of performing lane line deviation alarm includes: and when the left lane line passes through the point of the preset position in the left image as the center of a circle and the left distance threshold value is used as the inside of the semicircle of the radius, or when the right lane line passes through the point of the preset position in the right image as the center of a circle and the right distance threshold value is used as the inside of the semicircle of the radius, performing lane line deviation alarm.
3. The method of claim 1 or 2, wherein prior to the step of acquiring an image of a road surface in front of a vehicle, the method further comprises:
when an identification instruction is received, identifying points with preset characteristics in the road surface image;
determining the distance between the point with the predetermined characteristic and the circle center as the predetermined distance threshold.
4. The method of claim 1 or 2, wherein prior to the step of acquiring an image of a road surface in front of a vehicle, the method further comprises:
receiving a distance threshold instruction;
and determining a plurality of distance thresholds corresponding to a plurality of alarm levels according to the distance threshold instruction.
5. A lane line deviation warning device, comprising:
the image acquisition module is used for acquiring a road surface image in front of the vehicle;
the lane line determining module is connected with the image acquiring module and used for determining lane lines in the road surface image, wherein the lane lines comprise a left lane line and a right lane line;
an alarm module connected with the lane line determination module and used for giving an alarm of lane line deviation when the lane line passes through the inside of a circle which takes a point of a preset position as the center of the circle and takes a preset distance threshold as the radius, wherein the distance threshold comprises a left distance threshold and a right distance threshold,
the alarm module includes:
and the first alarm submodule is used for carrying out lane line deviation alarm when the left lane line passes through the inside of a circle which takes a point of a preset position as the center of a circle and takes the left distance threshold value as the radius, or when the right lane line passes through the inside of a circle which takes the point of the preset position as the center of a circle and takes the right distance threshold value as the radius.
6. The apparatus of claim 5, further comprising:
the steering angle acquisition module is used for acquiring the steering angle of the wheels of the vehicle;
the dividing module is connected with the steering angle acquiring module and is used for dividing the road surface image into a left image and a right image according to a straight line which passes through the point of the preset position and has the direction consistent with the steering angle of the wheels;
wherein, the alarm module includes:
and the second alarm submodule is used for carrying out lane line deviation alarm when the left lane line passes through a point which takes a preset position in the left image as the center of a circle and the left distance threshold value as the inside of a semicircle of a radius, or when the right lane line passes through a point which takes the preset position in the right image as the center of a circle and the right distance threshold value as the inside of the semicircle of the radius.
7. The apparatus of claim 5 or 6, further comprising:
the identification module is used for identifying points with preset characteristics in the road surface image when an identification instruction is received;
and the first distance threshold value determining module is connected with the identifying module and is used for determining the distance between the point with the preset characteristics and the circle center as the preset distance threshold value.
8. The apparatus of claim 5 or 6, further comprising:
the instruction receiving module is used for receiving a distance threshold instruction;
and the second distance threshold determining module is connected with the instruction receiving module and used for determining a plurality of distance thresholds corresponding to a plurality of alarm levels according to the distance threshold instruction.
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| CN111194002B (en) * | 2020-01-13 | 2021-04-30 | 成都四相致新科技有限公司 | Driving positioning method, system, medium and equipment based on ranging base station |
| CN115214706B (en) * | 2022-06-09 | 2024-03-01 | 广东省智能网联汽车创新中心有限公司 | Dangerous road early warning method and system based on V2X |
| CN115214705B (en) * | 2022-06-09 | 2024-01-16 | 广东省智能网联汽车创新中心有限公司 | Lane departure early warning method and system |
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| JP4638370B2 (en) * | 2006-03-29 | 2011-02-23 | 富士重工業株式会社 | Lane departure prevention device |
| WO2012169029A1 (en) * | 2011-06-08 | 2012-12-13 | トヨタ自動車株式会社 | Lane departure avoidance assistance device, separator display method, and program |
| CN102663356B (en) * | 2012-03-28 | 2015-04-08 | 柳州博实唯汽车科技有限公司 | Method for extraction and deviation warning of lane line |
| KR101351919B1 (en) * | 2012-05-23 | 2014-01-24 | 현대모비스 주식회사 | Lane Keeping Assist System and Method |
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