CN110203202A - A kind of lane-change auxiliary method for early warning and device based on Driver intention recognition - Google Patents
A kind of lane-change auxiliary method for early warning and device based on Driver intention recognition Download PDFInfo
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- CN110203202A CN110203202A CN201910355427.6A CN201910355427A CN110203202A CN 110203202 A CN110203202 A CN 110203202A CN 201910355427 A CN201910355427 A CN 201910355427A CN 110203202 A CN110203202 A CN 110203202A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Abstract
A kind of lane-change auxiliary method for early warning and device based on Driver intention recognition provided by the invention, this identifies preliminary lane-changing intention by driver head's motion information first, pass through information of vehicles and bus or train route validation of information lane-changing intention of driver again, according to the intention of identification, open turn signal and laser radar, risk judgement being acted for lane-change, support being provided, auxiliary driver carries out safe lane-change；Intelligence degree of the present invention is high, can accurately be observed during lane-change target lane front vehicle, and lane-change risk is reduced.
Description
Technical field
The present invention relates to ride safety of automobile fields, and in particular to a kind of lane-change auxiliary based on Driver intention recognition
Prior-warning device and method.
Background technique
Nearly ten years, China's car ownership rises year by year, and bring road driving safety problem has been very therewith
Sternness, according to statistics, the 90% of the total accident of traffic accident Zhan due to caused by the operation error of driver.During lane-change,
Driver not only needs to observe the travel situations of current lane front vehicles and target lane preceding vehicle, it is also necessary to observe
The movement whether target lane rear has the vehicle quickly approached that can threaten this lane-change, this observation process can be persistently whole
A lane-change process.When driver judges that the movement of this lane-change has high risk, then lane-change can be abandoned, the attention to driver
Power and driving skills have higher requirement.
Driver works as whether front left and right target carriage road has along in judgement when observing left and right rearview mirror, while also
Lane-change condition often cancels the lane-changing intention of generation after driver forms preliminary lane-changing intention because of various factors,
The intention assessment of driver is more difficult.
In addition, turn signal is that front vehicle driver judges front vehicles driving status and driver intention
One important indicator, many drivers have the bad habit for being not turned on turn signal, statistics table when carrying out lane-change movement
Bright driver is before lane-change, and turn signal unlatching rate only has 50%, and undesirable driving habit can bring the traffic safety of some column hidden
Suffer from.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of lane-change auxiliary based on Driver intention recognition
Method for early warning and device are identified by the lane-changing intention to driver, are carried out safe lane-change for driver and are provided auxiliary in advance
Alert effect.
The present invention is to be achieved through the following technical solutions:
A kind of lane-change auxiliary method for early warning based on Driver intention recognition, includes the following steps；
Step 1, the travel speed for acquiring vehicle, when travel speed is greater than preset value, acquisition driver head moves letter
Breath；
Step 2, driver head's rotation information in driver head's motion information acquisition instrument acquisition setting time, obtains
It starts turning to level angle standard deviation SD and head to time positive duration T；
When level angle standard deviation SD and duration T are all larger than preset respective value, it is determined that driver, which has, tentatively to be changed
Road is intended to, and executes step 3, no to then follow the steps 1；
Step 3, acquire vehicle steering wheel angle, steering wheel angle speed, vehicle is at a distance from lane line and vehicle is lateral
Speed is input in neural network intention assessment model, when the output of neural network intention assessment model is 1, confirmation lane-change meaning
Figure executes step 4, exports when being 0, thens follow the steps 1；
Step 4, acquire vehicle and rear car relative velocity △ V and relative distance △ L, and with preset relative velocity △ V
It is compared with relative distance △ L, exports lane-change Risk Results.
Preferably, driver head's motion information is acquired when car speed is greater than 30km/h in step 1.
Preferably, level angle standard deviation SD >=8.9 ° in step 2, and when duration T >=1s, determine that driver has
Preliminary lane-changing intention.
Preferably, after step 3 determines lane-changing intention, whether detection vehicle opens turn signal, if be not turned on, opens
Open the turn signal of turn side.
Preferably, as △ L≤40m and △ V > 10km, △ L≤80m and △ V > 20km/h or △ L≤100m in step 4
And when △ V > 30km/h, then there are risks for current lane-change movement.
The lane-change auxiliary method for early warning that the present invention also provides a kind of for realizing above-mentioned based on Driver intention recognition
Device, including vehicle speed sensor, driver head's motion information acquisition instrument, steering wheel torque sensor, Lane detection system
System, laser radar and data handler；
Velocity sensor, for acquiring the speed and lateral movement speed of vehicle advance；
Driver head's motion information acquisition instrument, for acquiring head from turning to back positive rotation time T, and
The head movement corner of driver, and level angle standard deviation SD is obtained according to moving corner；
Steering wheel torque sensor, for acquiring vehicle steering wheel angle and steering wheel angle speed；
Lane detection system, for acquiring vehicle at a distance from lane line；
Laser radar, for acquiring the relative velocity and relative distance of vehicle and rear car；
Vehicle parameter and the kinematic parameter of driver determine that the lane-change of driver is anticipated to data handler based on the received
Figure, and export lane-change Risk Results.
Preferably, the velocity sensor is installed on vehicle front-wheel；Driver head's motion information acquisition instrument is installed on
Above instrument board, and camera is towards driver head；Steering wheel torque sensor is installed on steering wheel rear and and steering wheel
Connection；Lane detection system is installed on the upper end of front windshield；Laser radar is installed on vehicle rear bumper.
Preferably, further include precaution device for exporting voice reminder, be installed on interior instrument board, precaution device with
Data handler connection.
Preferably, driver head's motion information acquisition instrument is faceLAB5 head movement tracker.
Compared with prior art, the invention has the following beneficial technical effects:
A kind of lane-change based on Driver intention recognition of the present invention assists method for early warning, can be in Various Complex traffic road
It works under condition, lane-change provides forewarning function to driver's lane-change to the left or to the right；At work, it is driven and is anticipated according to driver
Figure, and the turn signal that will turn to side is opened according to driving intention, forewarning function is provided for front vehicle；Simultaneously by swashing
The driving status of optical radar monitoring objective lane front vehicle provides auxiliary early warning when carrying out lane-change movement for driver, drops
Low traffic risk.
A kind of lane-change based on Driver intention recognition of the present invention assists prior-warning device, is adopted in real time by vehicle speed sensor
Collect speed, the trigger condition as driving intention recognizer；It is driven by being acquired to driver head's motion information acquisition instrument
The head level motion information of member, the criterion as preliminary driving intention；Pass through steering wheel torque sensor and lane line
Identifying system acquires steering wheel angle, steering wheel angle speed and vehicle at a distance from lane line, and passes through velocity sensor
Collected vehicle lateral speed, the input as confirmation driving intention model；Target lane rear is acquired by laser radar
Driving cycle, obtain the relative velocity and relative distance of target vehicle Yu this vehicle, obtain whether the movement of current lane-change has wind
Danger carries out lane-change indicating risk by precaution device, improves traffic safety degree.The device intelligence degree is high, reliable operation,
It without the operation bidirectional of driver, can voluntarily open, provide auxiliary to driver and drive function, reduce traffic risk.
Detailed description of the invention
Fig. 1 is prior-warning device structural schematic diagram of the invention；
Fig. 2 is method for early warning flow chart of the invention；
Fig. 3 is lane-change schematic diagram of a scenario of the invention；
Fig. 4 is the vehicle front-wheel and lane line of present invention Lane detection system acquisition in lane-change apart from schematic diagram；
Fig. 5 is that present invention faceLAB5 head movement tracker in lane-change draws driver head moving region
Divide schematic diagram；
In figure: 1, vehicle speed sensor, 2, driver head's motion information acquisition instrument, 3, steering wheel torque sensor, 4, vehicle
Diatom identifying system, 5, laser radar, 6, data handler, 7, precaution device.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, described to be explanation of the invention rather than limit
It is fixed.
Such as Fig. 1, a kind of lane-change auxiliary prior-warning device based on Driver intention recognition, including vehicle speed sensor 1, driving
Member's head movement information acquiring instrument 2, steering wheel torque sensor 3, Lane detection system 4, laser radar 5, at data information
Manage device 6 and precaution device 7.
Velocity sensor 1, for acquiring the speed and lateral movement speed of vehicle advance.
Driver head's motion information acquisition instrument 2, for acquiring the head movement information of driver, including head fortune
Turn angle and head movement are from the duration for being initially rotated to back timing.
Steering wheel torque sensor 3, for acquiring vehicle steering wheel angle and steering wheel angle speed.
Lane detection system 4, for acquiring vehicle two sides at a distance from lane line.
Laser radar 5, for acquiring the relative velocity and relative distance of target lane front vehicle Yu this vehicle.
Data handler 6, including receiving unit, processing unit and output unit.
Receiving unit is sensed with velocity sensor 1, driver head's motion information acquisition instrument 2, steering wheel torque respectively
The connection of device 3, Lane detection system 4, laser radar 5, for receiving the information of above equipment acquisition.
Receiving unit, for receiving travel speed, the head movement corner, rotation time, steering wheel for vehicle turn of vehicle
Angle, steering wheel angle speed, vehicle are at a distance from lane line and rear car and the relative velocity of this vehicle and the ginseng of relative distance
Number, and export to processing unit.
Processing unit is driven when travel speed is greater than preset travel speed according to the determination of the head movement information of driver
The preliminary lane-changing intention for the person of sailing.
After confirming preliminary lane-changing intention, by steering wheel for vehicle corner, steering wheel angle speed, automobile side and lane line
Distance and vehicle side velocity be input in the neural network intention assessment model trained, confirm the lane-change of driver
It is intended to.
After confirming lane-changing intention, according to the relative velocity △ V and relative distance △ L of the rear car in same lane and this vehicle, output
The risk assessment result of current lane-change movement.
Output unit is used to export the risk assessment result of processing unit.
Risk assessment result exports early warning to precaution device 7 based on the received, i.e. the current lane-change movement of prompt driver is
It is no that there is risk.
In a preferred embodiment of the invention, velocity sensor 1 is installed on the speed letter that vehicle is acquired on vehicle off-front wheel
Breath；Driver head's motion information acquisition instrument 2 is faceLAB5 head movement tracker, is mounted on instrument board
Side, camera acquire driver head's motion information towards driver head；Steering wheel torque sensor 3 is installed on steering wheel
Rear, and connect with steering wheel, acquire steering wheel angle and steering wheel angle speed；Lane detection system 4 is installed on front
The upper end of wind glass acquires vehicle two sides at a distance from lane line；Laser radar 5 is installed on vehicle rear bumper top position；
Data handler 6 is arranged in car body；Precaution device 7 is installed on interior instrument board side.
Such as Fig. 2-5, a kind of lane-change auxiliary method for early warning based on Driver intention recognition includes the following steps；
Step 1, the travel speed that vehicle speed sensor 1 acquires current vehicle is acquired, and is known as subsequent driver intention
The trigger condition of other program, when car speed is greater than 30km/h, the acquisition of driver head's motion information acquisition instrument 2 is driven
Member's head movement information；Conversely, not acquiring then.
Step 2, preliminary lane-changing intention is determined.
Specifically: when driver head's motion information acquisition instrument 2 detect driver for the first time rotation head to left side or
When right area, if the rotation moment is the starting point of time window, the time window set is 5s；To being acquired in time window
To driver head's rotation information analyze, obtain level angle standard deviation SD and head start turning it is just lasting to returning
Time T, by the level angle standard deviation SD and duration T of acquisition and preset level angle standard deviation SD and duration T
It is compared, determines the preliminary lane-changing intention of driver: if SD >=8.9 ° and T >=1s, then it is assumed that driver has preliminary lane-change to anticipate
Figure.
In time window, if driver head's movement falls in left area, then it is assumed that driver has the meaning of lane-change to the left
Figure；If driver head's movement falls in right area, then it is assumed that driver has the intention of lane-change to the right.
Step 3, lane-changing intention is determined.
Specifically: steering wheel torque sensor 3 acquires vehicle steering wheel angle and steering wheel angle speed, and lane line is known
Other system 4 acquires vehicle front-wheel at a distance from lane line, the vehicle side velocity that vehicle speed sensor 1 acquires, and is output to data letter
It ceasing in the neural network intention assessment model crossed by off-line training in processor 6, neural network model is three-decker,
Its input layer number is 4, and hidden layer neuron number is 9, and output layer is 1 neuron；
Specifically, the neural network is BP neural network, there are four inputs, respectively steering wheel for vehicle corner, side
To disk tarnsition velocity, the distance of vehicle front tread lane line and vehicle side velocity, the output of neural network is 1 or 0,1 expression
Confirm lane-changing intention, 0 indicates no lane-change.
The learning training process of neural network is made of forward-propagating and backpropagation；
Forward-propagating is to calculate the output of network.
First: the input of hidden neuron is the sum of the weighting of all inputs, as follows；
Wherein, xiAnd xjThe respectively neuron of input layer and hidden layer, wijPower between input layer and hidden layer
Value；I ∈ [1,2,3,4], j ∈ [1,2,3,4,5,6,7,8,9].
The output x of hidden neuronj' sigmoid activation primitive is used,E is natural logrithm；Known toThe output of output layer neuron is
Wherein, o is the output of output layer neuron；wjoWeight between hidden layer and output layer, j ∈ [1,2,3,4,
5,6,7,8,9]；Due to only one neuron of output layer, so the number of o is constant.
Network output and ideal output oiError be e=oi-o；Loss function is
Wherein, e is the error of network output with ideal output, oiFor ideal output, E is that loss function characterizes symbol.
Backpropagation adjusts the weight of each interlayer, using gradient descent method, the connection weight w of output layer and hidden layerjoStudy
Algorithm is
Wherein, η is learning rate, η ∈ [0,1]；
Hidden layer and input layer connection weight
Wherein,
Further, in the training process, when forward-propagating, input information is successively handled from input layer by hidden layer, and
It is transmitted to output layer, one layer of neuron state under the influence of the state of every layer of neuron.If desired output cannot be obtained,
Start backpropagation, error signal is calculated by opposite direction, the weight of each layer neuron is adjusted by gradient descent method, by error
Information reduces.
Step 4, after confirming lane-changing intention, whether detection vehicle turn signal is opened, if be not turned on, opens phase
Answer one side steering indicating light installed, while the laser radar 5 at unlocking vehicle rear, lane-change schematic diagram of a scenario as shown in Figure 3.
It is opposite with this vehicle that data handler 6 receives the target lane front vehicle that laser radar 5 sends over
Speed △ V and relative distance △ L, during lane-change, the relative motion of the target vehicle and this vehicle at target lane rear is joined
Number, the kinematic parameter directly affect the degree of risk of the current lane-change movement of this vehicle.
Its threshold value divides are as follows: as △ L≤40m, △ V > 10km/h；△ L≤80m, △ V > 20km/h；△ L≤100m,
△ V > 30km/h；When relative velocity △ V and relative distance △ L meet any threshold range, then it is assumed that current lane-change is dynamic
There are risks for work.
When work, by vehicle speed sensor 1, acquisition current vehicle speed, data handler 6 carry out current vehicle speed in real time
Intention assessment can be carried out by, which judging whether, tentatively identifies, after speed meets given threshold, in the time window of setting, leads to
It crosses driver's motion information acquisition instrument 2 to analyze driver head's rotation information, and is according to the threshold decision of setting
It is no to form preliminary lane-changing intention, after forming preliminary lane-changing intention, by the way that steering wheel torque sensor 3 is acquired vehicle side
Vehicle front-wheel is acquired at a distance from lane line, speed sensing to disk corner and steering wheel angle speed, Lane detection system 4
The lateral speed data of vehicle that device 1 acquires is input to the neural network meaning crossed in data handler 6 by off-line training
In figure identification model, determining lane-changing intention is obtained, opens turn signal, while the laser radar 5 at unlocking vehicle rear at this time,
The opposite driving parameters of target lane front vehicle and this vehicle are detected by laser radar 5, data handler 6 is by dividing
Analysis waits until whether current lane-change movement has risk, will determine that result is sent to precaution device 7, reminds driver by precaution device 7
Current lane-change movement whether there is risk, and auxiliary driver carries out lane-change movement.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (9)
1. a kind of lane-change based on Driver intention recognition assists method for early warning, which is characterized in that include the following steps；
Step 1, the travel speed for acquiring vehicle acquires driver head's motion information when travel speed is greater than preset value；
Step 2, driver head's rotation information in driver head's motion information acquisition instrument (2) acquisition setting time, obtains
Level angle standard deviation SD and head are started turning to time positive duration T；
When level angle standard deviation SD and duration T are all larger than preset respective value, it is determined that driver has preliminary lane-change to anticipate
Figure executes step 3, no to then follow the steps 1；
Step 3, vehicle steering wheel angle, steering wheel angle speed, vehicle are acquired at a distance from lane line and vehicle side velocity,
It is input in neural network intention assessment model, when the output of neural network intention assessment model is 1, confirms lane-changing intention, execute
Step 4, it exports when being 0, thens follow the steps 1；
Step 4, acquire vehicle and rear car relative velocity △ V and relative distance △ L, and with preset relative velocity △ V and phase
The △ L that adjusts the distance is compared, and exports lane-change Risk Results.
2. the lane-change based on Driver intention recognition assists method for early warning according to claim 1, which is characterized in that step 1
In when car speed be greater than 30km/h when, acquire driver head's motion information.
3. the lane-change based on Driver intention recognition assists method for early warning, level angle mark in step 2 according to claim 1
Quasi- difference SD >=8.9 °, and when duration T >=1s, determine that driver has preliminary lane-changing intention.
4. the lane-change based on Driver intention recognition assists method for early warning according to claim 1, which is characterized in that step 3
After determining lane-changing intention, whether detection vehicle opens turn signal, if be not turned on, opens the turn signal of turn side.
5. the lane-change based on Driver intention recognition assists method for early warning according to claim 1, which is characterized in that step 4
In as △ L≤40m and △ V > 10km, △ L≤80m and △ V > 20km/h or △ L≤100m and △ V > 30km/h, then when
There are risks for preceding lane-change movement.
6. a kind of dress of the lane-change auxiliary method for early warning for realizing any one of claim 1-5 based on Driver intention recognition
Set, which is characterized in that including vehicle speed sensor (1), driver head's motion information acquisition instrument (2), steering wheel torque sensor,
Lane detection system (4), laser radar (5) and data handler (6)；
Velocity sensor (1), for acquiring the speed and lateral movement speed of vehicle advance；
Driver head's motion information acquisition instrument (2) for acquiring head from turning to back positive rotation time T, and is driven
The head movement corner for the person of sailing, and level angle standard deviation SD is obtained according to moving corner；
Steering wheel torque sensor (3), for acquiring vehicle steering wheel angle and steering wheel angle speed；
Lane detection system (4), for acquiring vehicle at a distance from lane line；
Laser radar (5), for acquiring the relative velocity and relative distance of vehicle and rear car；
Vehicle parameter and the kinematic parameter of driver determine that the lane-change of driver is anticipated to data handler (6) based on the received
Figure, and export lane-change Risk Results.
7. the device of the lane-change auxiliary method for early warning based on Driver intention recognition according to claim 6, which is characterized in that
The velocity sensor (1) is installed on vehicle front-wheel；Driver head's motion information acquisition instrument (2) is installed on instrument board
Side, and camera is towards driver head；Steering wheel torque sensor (3) is installed on steering wheel rear and connect with steering wheel；
Lane detection system (4) is installed on the upper end of front windshield；Laser radar (5) is installed on vehicle rear bumper.
8. the device of the lane-change auxiliary method for early warning based on Driver intention recognition according to claim 6, which is characterized in that
It further include being installed on interior instrument board for exporting the precaution device of voice reminder (7), at precaution device (7) and data information
Manage device (6) connection.
9. the device of the lane-change auxiliary method for early warning based on Driver intention recognition according to claim 6, which is characterized in that
Driver head's motion information acquisition instrument (2) is faceLAB5 head movement tracker.
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| CN111591294A (en) * | 2020-05-29 | 2020-08-28 | 长安大学 | Early warning method for vehicle lane change in different traffic environments |
| CN111806439A (en) * | 2020-06-30 | 2020-10-23 | 中国第一汽车股份有限公司 | Method, device and system for determining lane changing intention of driver and storage medium |
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| CN112677977A (en) * | 2020-12-28 | 2021-04-20 | 科大讯飞股份有限公司 | Driving state identification method and device, electronic equipment and steering lamp control method |
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| CN113044036A (en) * | 2021-05-12 | 2021-06-29 | 中国第一汽车股份有限公司 | Control method and device for vehicle lane changing, electronic equipment and storage medium |
| CN113753048A (en) * | 2021-09-08 | 2021-12-07 | 岚图汽车科技有限公司 | Vehicle lane change control method and device, storage medium and electronic equipment |
| CN114312785A (en) * | 2021-12-15 | 2022-04-12 | 上汽大众汽车有限公司 | Lane changing auxiliary system and method for vehicle |
| CN114475664A (en) * | 2022-03-17 | 2022-05-13 | 西华大学 | Automatic driving vehicle lane changing coordination control method for congested road section |
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