CN110539750A - lane departure early warning system and method based on driving state and road condition information - Google Patents
lane departure early warning system and method based on driving state and road condition information Download PDFInfo
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- CN110539750A CN110539750A CN201910749096.4A CN201910749096A CN110539750A CN 110539750 A CN110539750 A CN 110539750A CN 201910749096 A CN201910749096 A CN 201910749096A CN 110539750 A CN110539750 A CN 110539750A
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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
- B60W40/02—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 ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- 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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W2040/0818—Inactivity or incapacity of driver
- B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
-
- 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
- B60W2540/26—Incapacity
Abstract
the invention relates to a lane departure early warning system based on driving state and road condition information, which comprises: the system comprises a front-gear camera, a left side rearview mirror camera, a right side rearview mirror camera, a fatigue monitoring camera, a lane departure early warning system controller, a sound alarm, a small vibration motor, a vehicle steering CAN bus and a display screen. The invention also discloses an early warning method of the lane departure early warning system based on the driving state and road condition information. The fatigue state of the driver is monitored in real time through the fatigue monitoring camera, and whether the vehicle deviates from the lane or not due to the fatigue of the driver can be judged more accurately; the left and right rearview mirror cameras are used for acquiring the side and rear road condition information when the vehicle deviates from the lane, so that the vehicle is prevented from side collision after deviating; the driving danger degree of the vehicle is comprehensively determined according to the driving state and road condition information of the driver, and a sound alarm or a seat vibration alarm is given, so that the driver can be more vigilant about lane departure, and the driving safety is ensured.
Description
Technical Field
the invention relates to the technical field of advanced auxiliary driving of vehicles, in particular to a lane departure early warning system and method based on driving state and road condition information.
background
With the rapid development of automobile technology and artificial intelligence, the requirements of consumers on the safety and the intelligence of automobiles are higher and higher, a series of advanced driving assistance technologies are applied to modern automobiles, and lane departure early warning systems are one of the advanced driving assistance technologies. However, the existing lane departure warning system generally adopts a technical scheme of a forward camera and a buzzer, and provides sound warning information for a driver only according to a lane line in front of the vehicle and position information of the vehicle. The driving state and the driving intention of the driver cannot be accurately judged, so that a plurality of conditions without warning are caused to send out alarms, and excessive wrong warning signals can interfere the normal driving of the driver. On the other hand, since the vehicle is noisy during traveling, the driver may not be alerted by only sounding a warning.
disclosure of Invention
the invention aims to provide a lane departure early warning system based on driving state and road condition information, which obtains the road condition information through a front-guard camera and a left-right side rearview mirror camera, obtains the driving state information of a driver through a fatigue monitoring camera, the opening and closing state of a steering lamp and the corner of a steering wheel, calculates the transverse distance threshold value between a vehicle and a lane line according to the activeness of the driver, judges the driving state of the vehicle by integrating the driving state and the road condition information of the driver, and warns the driver by sound or seat vibration according to different dangerous conditions.
In order to achieve the purpose, the invention adopts the following technical scheme: a lane departure warning system based on driving status and road condition information, the system comprising: keep off camera, left side rear-view mirror camera, right side rear-view mirror camera, fatigue monitoring camera, lane departure early warning system controller, audible alarm ware, small-size vibrations motor, vehicle turn to CAN bus and display screen, wherein:
The front windshield camera is arranged at the middle position close to the upper part in the front windshield glass and is used for acquiring the relative position information of a vehicle in front of the vehicle and a lane line;
The left side rearview mirror camera and the right side rearview mirror camera are respectively arranged below the left side rearview mirror and the right side rearview mirror, are arranged towards the rear of the vehicle and are used for acquiring road condition information of the left side and the right side of the vehicle;
The fatigue monitoring camera is arranged on the instrument panel and is opposite to the face of the driver, and is used for monitoring the states of the eyes, the face and the like of the driver in real time;
the lane departure early warning system controller is arranged in the glove box and used for analyzing and processing data acquired by the sensor and controlling the sound alarm and the small vibration motor;
the sound alarm is arranged on a central console below the steering wheel and used for sending sound alarm information to a driver;
the small vibration motor is arranged in the driver seat and used for sending vibration alarm information to a driver;
the vehicle steering CAN bus is used for acquiring the turn-on state of a steering lamp of a vehicle and the angle information of a steering wheel;
the display screen is arranged in the middle of the vehicle center console and used for displaying the working state of the lane departure early warning system.
The front-gear camera, the left rearview mirror camera, the right rearview mirror camera and the fatigue monitoring camera are all in bidirectional connection with the lane departure early warning system controller through USB 3.0 interfaces; the vehicle steering CAN bus is connected with the lane departure early warning system controller through a CAN interface; the sound alarm is connected with the lane departure early warning system controller through a 3.5mm audio interface; the small vibration motor is connected with the lane departure early warning system controller through a USB2.0 interface; the display screen is connected with the lane departure early warning system controller through an HDMI interface.
another object of the present invention is to provide a method for warning lane departure warning system based on driving status and traffic information, which comprises the following steps:
(1) Acquiring relative position information of a lane line in front of the vehicle and the vehicle through a front-gear camera;
(2) acquiring a fatigue state of a driver through a fatigue monitoring camera, wherein the fatigue state of the driver is divided into a fatigue state and a normal state;
(3) Acquiring steering wheel angle information and a turn lamp starting state from a vehicle steering CAN bus;
(4) judging the deviation direction of the vehicle according to the steering wheel angle information, and determining which side of the rearview mirror camera is started;
(5) Processing the image acquired by the rearview mirror camera, and judging whether a vehicle comes from the side rear or not through image identification;
(6) calculating a transverse distance threshold value of the vehicle from the lane line according to the activeness of the driver;
(7) comprehensively obtaining the driving state and road condition information of a driver through the information, judging the current driving state of the vehicle, and judging the danger degree, wherein the danger degree is divided into 0, 1, 2 and 3 grades;
(8) and respectively adopting sound alarm or seat vibration alarm according to different danger degrees.
the step (1) comprises the following steps:
(1a) acquiring an image in front of the vehicle through a front-gear camera;
(1b) And performing image processing on the acquired image in front of the vehicle to acquire relative position information of the lane line in front of the vehicle and the vehicle.
the step (2) comprises the following steps:
(2a) Acquiring state images of eyes and faces of a driver through a fatigue monitoring camera;
(2b) and carrying out image processing on the acquired image, and judging the fatigue state of the driver by the eye and face characteristics of the driver through a driver fatigue detection algorithm.
the step (4) specifically comprises the following steps: when the steering wheel turns left by an angle larger than 20 degrees, starting the left rearview mirror camera; and conversely, when the steering wheel turns rightwards for an angle greater than 20 degrees, the right rearview mirror camera is started.
the transverse distance threshold in the step (6) is updated according to the activity of the driver, and the calculation formula of the activity of the driver is as follows:
Wherein ida (k) represents the driver activity at the k-th step, λ is a forgetting factor for updating the driver activity, λ is 0.6, is the steering wheel angular velocity at the k-th step, is a preset steering wheel angular velocity threshold, sigmoid (·) is a logistic function, and the output range is (0, 1);
the calculation formula of the transverse distance threshold is as follows:
D(k)＝D(v)+0.3*(1-I(k)) (2)
wherein D (k) represents the transverse distance threshold value of the k step, and the unit is m; d (V) represents a function which changes along with the vehicle speed V, and the value range is [0, 0.1] and the unit is m; the unit of the vehicle speed V is km/h;
the driver driving state in the step (7) comprises unconscious operation, fatigue driving, conscious lane change and improper operation, and is determined by the following means:
when the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 10 degrees, the driving state of the driver is judged to be unconscious operation;
when the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be fatigue driving;
when the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be improper operation;
when the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be conscious lane change;
the degree of risk in the step (7) is determined by:
When the driving state of the driver is unconscious operation and the lane line of the vehicle at one side of the vehicle is less than the threshold value of the transverse distance, judging that the danger degree is 3;
When the driving state of the driver is fatigue driving, judging that the danger degree is 2 no matter how the road condition information is;
When the driving state of the driver is improper operation and the lane line of the vehicle away from one side is smaller than the transverse distance threshold value, judging that the danger degree is 1;
when the driving state of the driver is conscious lane change and the rearview mirror camera detects that a driver has a coming vehicle from the side rear, judging that the danger degree is 1;
and when the driving state of the driver is conscious lane change and the rearview mirror camera detects that no vehicle comes from the side rear, judging that the danger degree is 0.
and (8) in the step, when the danger degrees are respectively 0, 1, 2 and 3, respectively adopting non-alarm, sound alarm, seat vibration alarm, sound alarm and seat vibration simultaneous alarm.
according to the technical scheme, the invention has the advantages that: firstly, the fatigue state of a driver is monitored in real time through a fatigue monitoring camera, and whether the vehicle deviates from a lane or not due to the fatigue of the driver can be judged more accurately; secondly, side and rear road condition information when the vehicle deviates from a lane is obtained through left and right side rearview mirror cameras, and side collision after the vehicle deviates is prevented; thirdly, the driving danger degree of the vehicle is comprehensively determined according to the driving state and the road condition information of the driver to give out sound alarm or seat vibration alarm, so that the driver can be more vigilant about lane departure, and the driving safety is ensured.
Drawings
FIG. 1 is a block diagram of the system components of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
as shown in fig. 1, a lane departure warning system based on driving status and road condition information includes: keep off camera, left side rear-view mirror camera, right side rear-view mirror camera, fatigue monitoring camera, lane departure early warning system controller, audible alarm ware, small-size vibrations motor, vehicle turn to CAN bus and display screen, wherein:
the front windshield camera is arranged at the middle position close to the upper part in the front windshield glass and is used for acquiring the relative position information of a vehicle in front of the vehicle and a lane line;
the left side rearview mirror camera and the right side rearview mirror camera are respectively arranged below the left side rearview mirror and the right side rearview mirror, are arranged towards the rear of the vehicle and are used for acquiring road condition information of the left side and the right side of the vehicle;
the fatigue monitoring camera is arranged on the instrument panel and is opposite to the face of the driver, and is used for monitoring the states of the eyes, the face and the like of the driver in real time;
The lane departure early warning system controller is arranged in the glove box and used for analyzing and processing data acquired by the sensor and controlling the sound alarm and the small vibration motor;
the sound alarm is arranged on a central console below the steering wheel and used for sending sound alarm information to a driver;
the small vibration motor is arranged in the driver seat and used for sending vibration alarm information to a driver;
the vehicle steering CAN bus is used for acquiring the turn-on state of a steering lamp of a vehicle and the angle information of a steering wheel;
the display screen is arranged in the middle of the vehicle center console and used for displaying the working state of the lane departure early warning system.
the front-gear camera, the left rearview mirror camera, the right rearview mirror camera and the fatigue monitoring camera are all in bidirectional connection with the lane departure early warning system controller through USB 3.0 interfaces; the vehicle steering CAN bus is connected with the lane departure early warning system controller through a CAN interface; the sound alarm is connected with the lane departure early warning system controller through a 3.5mm audio interface; the small vibration motor is connected with the lane departure early warning system controller through a USB2.0 interface; the display screen is connected with the lane departure early warning system controller through an HDMI interface.
as shown in fig. 2, the method comprises the following sequence of steps:
(1) Acquiring relative position information of a lane line in front of the vehicle and the vehicle through a front-gear camera;
(2) acquiring a fatigue state of a driver through a fatigue monitoring camera, wherein the fatigue state of the driver is divided into a fatigue state and a normal state;
(3) acquiring steering wheel angle information and a turn lamp starting state from a vehicle steering CAN bus;
(4) Judging the deviation direction of the vehicle according to the steering wheel angle information, and determining which side of the rearview mirror camera is started;
(5) Processing the image acquired by the rearview mirror camera, and judging whether a vehicle comes from the side rear or not through image identification;
(6) calculating a transverse distance threshold value of the vehicle from the lane line according to the activeness of the driver;
(7) comprehensively obtaining the driving state and road condition information of a driver through the information, judging the current driving state of the vehicle, and judging the danger degree, wherein the danger degree is divided into 0, 1, 2 and 3 grades;
(8) and respectively adopting sound alarm or seat vibration alarm according to different danger degrees.
The step (1) comprises the following steps:
(1a) acquiring an image in front of the vehicle through a front-gear camera;
(1b) and performing image processing on the acquired image in front of the vehicle to acquire relative position information of the lane line in front of the vehicle and the vehicle.
The step (2) comprises the following steps:
(2a) acquiring state images of eyes and faces of a driver through a fatigue monitoring camera;
(2b) and carrying out image processing on the acquired image, and judging the fatigue state of the driver by the eye and face characteristics of the driver through a driver fatigue detection algorithm.
the step (4) specifically comprises the following steps: when the steering wheel turns left by an angle larger than 20 degrees, starting the left rearview mirror camera; and conversely, when the steering wheel turns rightwards for an angle greater than 20 degrees, the right rearview mirror camera is started.
the transverse distance threshold in the step (6) is updated according to the activity of the driver, and the calculation formula of the activity of the driver is as follows:
Wherein ida (k) represents the driver activity at the k-th step, λ is a forgetting factor for updating the driver activity, λ is 0.6, is the steering wheel angular velocity at the k-th step, is a preset steering wheel angular velocity threshold, sigmoid (·) is a logistic function, and the output range is (0, 1);
The calculation formula of the transverse distance threshold is as follows:
D(k)＝D(v)+0.3*(1-I(k)) (2)
wherein D (k) represents the transverse distance threshold value of the k step, and the unit is m; d (V) represents a function which changes along with the vehicle speed V, and the value range is [0, 0.1] and the unit is m; the unit of the vehicle speed V is km/h;
the driver driving state in the step (7) comprises unconscious operation, fatigue driving, conscious lane change and improper operation, and is determined by the following means:
When the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 10 degrees, the driving state of the driver is judged to be unconscious operation;
when the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be fatigue driving;
When the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be improper operation;
and (3) when the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, judging that the driving state of the driver is the conscious lane change.
the degree of risk in the step (7) is determined by:
when the driving state of the driver is unconscious operation and the lane line of the vehicle at one side of the vehicle is less than the threshold value of the transverse distance, judging that the danger degree is 3;
When the driving state of the driver is fatigue driving, judging that the danger degree is 2 no matter how the road condition information is;
when the driving state of the driver is improper operation and the lane line of the vehicle away from one side is smaller than the transverse distance threshold value, judging that the danger degree is 1;
when the driving state of the driver is conscious lane change and the rearview mirror camera detects that a driver has a coming vehicle from the side rear, judging that the danger degree is 1;
and when the driving state of the driver is conscious lane change and the rearview mirror camera detects that no vehicle comes from the side rear, judging that the danger degree is 0.
and (8) in the step, when the danger degrees are respectively 0, 1, 2 and 3, respectively adopting non-alarm, sound alarm, seat vibration alarm, sound alarm and seat vibration simultaneous alarm.
in conclusion, the fatigue state of the driver is monitored in real time through the fatigue monitoring camera, and whether the vehicle deviates from the lane or not due to the fatigue of the driver can be judged more accurately; according to the invention, the left and right side rearview mirror cameras are used for acquiring the side and rear road condition information when the vehicle deviates from the lane, so that the vehicle is prevented from side collision after deviating; the invention comprehensively determines the dangerous degree of vehicle driving according to the driving state and road condition information of the driver to make sound alarm or seat vibration alarm, can further cause the driver to be alert about lane departure, and ensures the driving safety.
Claims (9)
1. the utility model provides a lane departure early warning system based on driving state and road conditions information which characterized in that: the system comprises: keep off camera, left side rear-view mirror camera, right side rear-view mirror camera, fatigue monitoring camera, lane departure early warning system controller, audible alarm ware, small-size vibrations motor, vehicle turn to CAN bus and display screen, wherein:
the front windshield camera is arranged at the middle position close to the upper part in the front windshield glass and is used for acquiring the relative position information of a vehicle in front of the vehicle and a lane line;
the left side rearview mirror camera and the right side rearview mirror camera are respectively arranged below the left side rearview mirror and the right side rearview mirror, are arranged towards the rear of the vehicle and are used for acquiring road condition information of the left side and the right side of the vehicle;
the fatigue monitoring camera is arranged on the instrument panel and is opposite to the face of the driver, and is used for monitoring the states of the eyes, the face and the like of the driver in real time;
The lane departure early warning system controller is arranged in the glove box and used for analyzing and processing data acquired by the sensor and controlling the sound alarm and the small vibration motor;
The sound alarm is arranged on a central console below the steering wheel and used for sending sound alarm information to a driver;
The small vibration motor is arranged in the driver seat and used for sending vibration alarm information to a driver;
the vehicle steering CAN bus is used for acquiring the turn-on state of a steering lamp of a vehicle and the angle information of a steering wheel;
The display screen is arranged in the middle of the vehicle center console and used for displaying the working state of the lane departure early warning system.
2. the lane departure warning system according to claim 1, wherein: the front-gear camera, the left rearview mirror camera, the right rearview mirror camera and the fatigue monitoring camera are all in bidirectional connection with the lane departure early warning system controller through USB 3.0 interfaces; the vehicle steering CAN bus is connected with the lane departure early warning system controller through a CAN interface; the sound alarm is connected with the lane departure early warning system controller through a 3.5mm audio interface; the small vibration motor is connected with the lane departure early warning system controller through a USB2.0 interface; the display screen is connected with the lane departure early warning system controller through an HDMI interface.
3. The warning method of the lane departure warning system based on the driving status and road condition information as claimed in any one of claims 1 to 2, wherein: the method comprises the following steps in sequence:
(1) acquiring relative position information of a lane line in front of the vehicle and the vehicle through a front-gear camera;
(2) acquiring a fatigue state of a driver through a fatigue monitoring camera, wherein the fatigue state of the driver is divided into a fatigue state and a normal state;
(3) Acquiring steering wheel angle information and a turn lamp starting state from a vehicle steering CAN bus;
(4) Judging the deviation direction of the vehicle according to the steering wheel angle information, and determining which side of the rearview mirror camera is started;
(5) processing the image acquired by the rearview mirror camera, and judging whether a vehicle comes from the side rear or not through image identification;
(6) calculating a transverse distance threshold value of the vehicle from the lane line according to the activeness of the driver;
(7) Comprehensively obtaining the driving state and road condition information of a driver through the information, judging the current driving state of the vehicle, and judging the danger degree, wherein the danger degree is divided into 0, 1, 2 and 3 grades;
(8) and respectively adopting sound alarm or seat vibration alarm according to different danger degrees.
4. The warning method according to claim 3, wherein: the step (1) comprises the following steps:
(1a) acquiring an image in front of the vehicle through a front-gear camera;
(1b) and performing image processing on the acquired image in front of the vehicle to acquire relative position information of the lane line in front of the vehicle and the vehicle.
5. the warning method according to claim 3, wherein: the step (2) comprises the following steps:
(2a) Acquiring state images of eyes and faces of a driver through a fatigue monitoring camera;
(2b) and carrying out image processing on the acquired image, and judging the fatigue state of the driver by the eye and face characteristics of the driver through a driver fatigue detection algorithm.
6. the warning method according to claim 3, wherein: the step (4) specifically comprises the following steps: when the steering wheel turns left by an angle larger than 20 degrees, starting the left rearview mirror camera; and conversely, when the steering wheel turns rightwards for an angle greater than 20 degrees, the right rearview mirror camera is started.
7. the warning method according to claim 3, wherein: the transverse distance threshold in the step (6) is updated according to the activity of the driver, and the calculation formula of the activity of the driver is as follows:
wherein ida (k) represents the driver activity at the k-th step, λ is a forgetting factor for updating the driver activity, λ is 0.6, is the steering wheel angular velocity at the k-th step, is a preset steering wheel angular velocity threshold, sigmoid (·) is a logistic function, and the output range is (0, 1);
the calculation formula of the transverse distance threshold is as follows:
D(k)＝D(v)+0.3*(1-I(k)) (2)
wherein D (k) represents the transverse distance threshold value of the k step, and the unit is m; d (V) represents a function which changes along with the vehicle speed V, and the value range is [0, 0.1] and the unit is m; the unit of the vehicle speed V is km/h;
8. the warning method according to claim 3, wherein: the driver driving state in the step (7) comprises unconscious operation, fatigue driving, conscious lane change and improper operation, and is determined by the following means:
when the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 10 degrees, the driving state of the driver is judged to be unconscious operation;
When the fatigue state of the driver is judged to be fatigue in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be fatigue driving;
when the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned off, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be improper operation;
when the fatigue state of the driver is judged to be normal in the step (2), the steering lamp is turned on, and the angle of the steering wheel is larger than 20 degrees, the driving state of the driver is judged to be conscious lane change;
the degree of risk in the step (7) is determined by:
when the driving state of the driver is unconscious operation and the lane line of the vehicle at one side of the vehicle is less than the threshold value of the transverse distance, judging that the danger degree is 3;
when the driving state of the driver is fatigue driving, judging that the danger degree is 2 no matter how the road condition information is;
when the driving state of the driver is improper operation and the lane line of the vehicle away from one side is smaller than the transverse distance threshold value, judging that the danger degree is 1;
when the driving state of the driver is conscious lane change and the rearview mirror camera detects that a driver has a coming vehicle from the side rear, judging that the danger degree is 1;
And when the driving state of the driver is conscious lane change and the rearview mirror camera detects that no vehicle comes from the side rear, judging that the danger degree is 0.
9. the warning method according to claim 3, wherein: and (8) in the step, when the danger degrees are respectively 0, 1, 2 and 3, respectively adopting non-alarm, sound alarm, seat vibration alarm, sound alarm and seat vibration simultaneous alarm.
Priority Applications (1)
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| CN112959946A (en) * | 2021-04-02 | 2021-06-15 | 大连丁格尔杰格科技有限公司 | Driving operation execution feedback induction device |
| CN113012470A (en) * | 2021-03-18 | 2021-06-22 | 中国第一汽车股份有限公司 | Alarming method and parameter real-time adjusting method of front collision early warning system |
| CN113071512A (en) * | 2021-04-25 | 2021-07-06 | 东风柳州汽车有限公司 | Safe driving reminding method, device, equipment and storage medium |
| CN113335182A (en) * | 2021-07-21 | 2021-09-03 | 业成科技（成都）有限公司 | In-vehicle safety system and operation method thereof |
| CN113428141A (en) * | 2021-07-15 | 2021-09-24 | 东风汽车集团股份有限公司 | Intelligent detection method and system for timely response of emergency cut-in of front vehicle |
| CN113436434A (en) * | 2021-06-25 | 2021-09-24 | 中科路恒工程设计有限公司 | Mountain trunk highway high-risk road section early warning system and method |
| CN113734178A (en) * | 2021-09-08 | 2021-12-03 | 一汽奔腾轿车有限公司 | System and method with safe driving assistance function |
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| CN111445669A (en) * | 2020-03-12 | 2020-07-24 | 杭州律橙电子科技有限公司 | Safety monitoring system of bus |
| CN112373478A (en) * | 2020-10-10 | 2021-02-19 | 湖南北斗赛格导航科技有限公司 | Fatigue driving early warning method and device |
| CN113012470A (en) * | 2021-03-18 | 2021-06-22 | 中国第一汽车股份有限公司 | Alarming method and parameter real-time adjusting method of front collision early warning system |
| CN112959946A (en) * | 2021-04-02 | 2021-06-15 | 大连丁格尔杰格科技有限公司 | Driving operation execution feedback induction device |
| CN113071512B (en) * | 2021-04-25 | 2022-07-22 | 东风柳州汽车有限公司 | Safe driving reminding method, device, equipment and storage medium |
| CN113071512A (en) * | 2021-04-25 | 2021-07-06 | 东风柳州汽车有限公司 | Safe driving reminding method, device, equipment and storage medium |
| CN113436434A (en) * | 2021-06-25 | 2021-09-24 | 中科路恒工程设计有限公司 | Mountain trunk highway high-risk road section early warning system and method |
| CN113428141A (en) * | 2021-07-15 | 2021-09-24 | 东风汽车集团股份有限公司 | Intelligent detection method and system for timely response of emergency cut-in of front vehicle |
| CN113335182A (en) * | 2021-07-21 | 2021-09-03 | 业成科技（成都）有限公司 | In-vehicle safety system and operation method thereof |
| CN113734178A (en) * | 2021-09-08 | 2021-12-03 | 一汽奔腾轿车有限公司 | System and method with safe driving assistance function |
| WO2023185104A1 (en) * | 2022-03-31 | 2023-10-05 | 华为技术有限公司 | Rearview mirror adjusting method and apparatus, device, and storage medium |
| CN114802226A (en) * | 2022-04-18 | 2022-07-29 | 常州星宇车灯股份有限公司 | Automobile driving assisting early warning control device and judgment method thereof |
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