CN110667574B - Multi-scenario lane departure early warning system and method - Google Patents

Multi-scenario lane departure early warning system and method Download PDF

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CN110667574B
CN110667574B CN201910909593.6A CN201910909593A CN110667574B CN 110667574 B CN110667574 B CN 110667574B CN 201910909593 A CN201910909593 A CN 201910909593A CN 110667574 B CN110667574 B CN 110667574B
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vehicle
lane
current
deviation
early warning
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CN110667574A (en
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叶智锐
高庆燕
王超
黄卫
许跃如
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Southeast University
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Southeast University
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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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • 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
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—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
    • 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
    • B60W2050/143—Alarm means

Abstract

The invention discloses a multi-scenario lane departure early warning decision method. The early warning decision method divides the early warning environment of the vehicle into three scenes, namely a high-speed curve scene, a low-speed curve scene and a low-speed straight road scene according to the difference of the current road condition and the vehicle running speed, and selects a proper early warning decision algorithm according to advantages and disadvantages in the application process of various algorithms and the early warning requirement of the actual running of the vehicle, so that lane departure early warning applied to multiple scenes is realized, the false report caused by the fact that the traditional early warning method adopts a single lane departure early warning decision algorithm is greatly reduced, the driving behavior of a driver during high-speed running is effectively normalized, and the early warning accuracy during the running of the curve of the vehicle is increased.

Description

Multi-scenario lane departure early warning system and method
Technical Field
The invention belongs to the technical field of automobile active safety, and particularly relates to a multi-scene lane departure early warning system and method.
Background
The influence of traffic safety problem is showing more and hastening birth and promoted the continuous development in car initiative safety technology field day by day, wherein, Lane Departure Warning System (LDWS, when the vehicle deviates from the Lane under the unconscious and not driving the turn signal lamp condition of driver, the System makes the judgement in advance, and carry out early Warning to the driver and remind), the Departure state of target vehicle is judged through vehicle electrical System intelligence, and carry out early Warning to the driver in advance and remind, thereby greatly reduced because of driver fatigue, the Lane that long-time driving or steering System out of control caused deviates, reduce the emergence of collision accident.
Most of the existing lane departure systems adopt a single algorithm to judge the departure state of a target vehicle by combining with other vehicles or road states, and certain judgment deviation exists; the threshold is calculated by using an estimation algorithm mostly according to time or distance, the driving habit of the driver for turning along the curve line is not considered, and certain false alarm exists, so that the driving trouble of the driver is caused; meanwhile, the system is not suitable for complex road environments such as non-structural roads and the like in which the lane lines are difficult to detect.
In the existing lane departure early warning scheme, the more representative algorithm models mainly comprise: a transverse velocity decision model, a TLC (time to Lane Cross) decision model, and a FOD (future Offset distance) decision model. The transverse speed decision algorithm takes the lateral speed as a decision index, but as a single decision algorithm, when a vehicle swings left and right or a driver adjusts the direction quickly, excessive false alarms are generated; the TLC decision-making model is most widely applied, the early warning time is long, long reaction time can be reserved for a driver, and the current driving state of the vehicle, namely the steering wheel angle, the vehicle speed and the like are assumed to be unchanged; the FOD decision model sets a virtual lane boundary line according to the driving habits of a driver, and has a plurality of threshold values, so that false alarm caused by the fact that the driver crosses part of lane lines due to the driving habits when the driver turns at a curve can be avoided.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects and shortcomings in the prior art, the invention provides a lane departure early warning method applied to multiple scenes based on the advantages and application range of various algorithms, and whether a vehicle departs from the current lane is judged by respectively using proper early warning decision algorithms under different driving environments and driving conditions, so that the sensitivity of a lane departure early warning control system is effectively improved, false lane departure warning is reduced, and the accuracy of departure judgment is increased.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a lane departure early warning system and method applied to multiple scenes.
The early warning system comprises a data acquisition unit, a data judgment unit and a deviation early warning unit;
the data acquisition unit is arranged in the vehicle and used for acquiring data in real time and transmitting the acquired data to the data judgment unit;
the data judgment unit is used for receiving the acquired data, performing deviation early warning judgment and transmitting an early warning instruction to the deviation early warning unit;
and the deviation early warning unit is used for receiving a deviation early warning instruction and reminding a driver to prevent the vehicle from further deviating.
Further, the data acquisition unit comprises a camera, a vehicle speed sensor, a steering wheel angle sensor, a steering lamp and a danger alarm lamp;
acquiring a current vehicle speed through a vehicle speed sensor;
acquiring a steering angle of a steering wheel through a steering angle sensor;
acquiring the offset distance and the offset angle of a vehicle, the current lane line position of a road, the lane width and the curvature radius of the road through a camera;
the turn signal and hazard warning light states are obtained by capturing signals on the turn signal and hazard warning light signal lines.
Further, the data judgment unit comprises a deviation suppression judgment unit, a vehicle speed judgment unit, a road curvature radius judgment unit and a lane deviation judgment unit.
In order to avoid the influence on the driving experience of the driver due to unnecessary alarm generated by the lane departure warning system when the driver turns, changes lanes or starts, the lane departure warning suppression condition is determined before the lane departure determination.
The deviation-suppression early-warning condition comprises the following steps: the current speed, the states of a steering lamp and a danger warning lamp, the deviation distance of the vehicle, the steering wheel rotation rate and the two-time alarming time interval.
The deviation suppression judging unit is used for receiving the data transmitted by the data acquisition unit, judging whether the current moment meets the deviation suppression early warning condition or not and transmitting a judgment signal to the vehicle speed judging unit;
the vehicle speed judging unit is used for receiving the data transmitted by the data acquisition unit, inhibiting a judging signal of the deviation judging unit, judging whether the vehicle is greater than a preset vehicle speed threshold value or not, and transmitting the judging signal to the lane deviation judging unit and the road curvature radius judging unit;
the road curvature radius judging unit is used for receiving the data transmitted by the data acquisition unit and the judging signal transmitted by the vehicle speed judging unit, judging that the current road is a straight road or a curve, and transmitting the judging signal to the lane departure judging unit;
the lane departure judging unit is used for receiving the data transmitted by the data acquisition unit, judging signals transmitted by the vehicle speed judging unit and the road curvature radius judging unit, judging whether the vehicle departs from the current lane or not and transmitting the judging signals to the departure early warning unit.
Further, the departure warning unit may alert the driver visually, tactually, or audibly when the vehicle departs from the lane, or may apply an appropriate resistance to the steering wheel to prevent further departure of the vehicle.
A multi-scenario lane departure early warning decision method comprises the following steps:
step 1, acquiring the current speed, offset distance and offset angle of a vehicle, a steering wheel steering angle, the current road lane line position, lane width, road curvature radius, the states of a steering lamp and a hazard warning lamp in real time;
step 2, judging whether the current moment meets the early warning condition of deviation inhibition according to the data collected in the step 1;
if the inhibition condition is met, setting blocking duration, blocking subsequent operations, and continuing to judge data acquired at the next moment after the blocking duration is reached; if the inhibition condition is not met, executing the step 3;
the deviation-suppression early-warning condition comprises the following steps: the current speed, the states of a steering lamp and a hazard warning lamp, the vehicle deviation distance, the steering wheel turning rate and the two-time alarming time interval;
step 3, judging whether the current vehicle speed is greater than a preset vehicle speed threshold value Vth2If it is less than the threshold value Vth2Executing the step 4; if greater than or equal to the threshold value Vth2Executing the step 5;
step 4, judging whether the curvature radius of the current road is larger than the set curve or notThreshold value of radius of curvature Rth(ii) a If greater than the threshold value RthJudging that the current lane is a straight lane, and executing the step 6; if less than or equal to the threshold value RthJudging that the current lane is a curve, and executing the step 7;
step 5, judging whether the vehicle deviates from the current lane by adopting an early warning decision method based on the transverse deviation speed, and turning to step 8;
step 6, judging whether the vehicle deviates from the current Lane by adopting an early warning decision method based on the Time to Lane Crossing remaining Time (TLC) of the vehicle, and turning to step 8;
step 7, judging whether the vehicle deviates from the current lane by adopting a Future Offset Distance (FOD) -based early warning decision method, and entering step 8;
step 8, if the vehicle does not deviate from the lane, returning to the step 1; and if the vehicle deviates from the lane, sending a deviation early warning instruction to prevent the vehicle from further deviating.
Preferably, the vehicle speed threshold Vth2The value is 60 km/h; threshold value of radius of curvature RthThe value is 250 m.
Further, in the step 1, when the position of the current lane line of the road is collected, the lane lines on two sides and the width of the road need to be detected and identified; the method comprises the following specific steps:
if the lane line can be detected, acquiring a lane line and a road width;
if the current lane line of the road cannot be obtained, respectively marking out virtual lane lines at certain distances from the inner sides of the curbs on two sides of the lane according to the detected roadbed width so as to replace the real lane lines;
the method for calculating the lane width and the roadbed width comprises the following steps:
Figure BDA0002214322240000031
wherein D is the lane width, DsubgradeTo the width of the roadbed DsmaxThe maximum value of the roadbed width.
Further, the step 2 is to judge whether the current time meets the deviation-inhibiting early-warning condition or not according to the acquired data; the method comprises the following specific steps:
2-1, the current vehicle speed V is less than the vehicle speed threshold value Vth1When the vehicle is in a starting or preparing side-by-side parking state, the deviation-inhibiting early-warning condition is met;
2-2, when the driver turns on a dangerous alarm lamp or a steering lamp at a deviation side, the driver indicates that the driver has the intention of changing lanes, turning around or stopping, and the deviation-inhibiting early-warning condition is met;
2-3, when the vehicle is detected to be less than a set distance threshold value from the transverse distance of the vehicle from the lane line deviated from the side lane line during straight lane driving, indicating that the vehicle is in a lane-ready change or turning around state, and meeting the early warning condition for inhibiting deviation;
2-4, when the steering wheel is detected to rotate towards the opposite direction of the deviation side by the driver, and the turning angle rate is greater than a set rate threshold value, the driver is indicated to find that the vehicle deviates and has the intention of adjusting the deviation direction, and the deviation-restraining early warning condition is met;
2-5, t of the alarm of one deviation in distance1Meeting the early warning condition of deviation inhibition within a time period;
2-6, blocking subsequent operation when any deviation inhibition early warning condition is met, and setting the blocking time as t2And after the blocking duration is reached, continuously judging the data at the next moment.
Preferably, the vehicle speed threshold Vth1The value is 30 km/h; t is t1The value is 3s, t2The value is 1 min.
Further, in the step 5, an early warning decision method based on a lateral deviation speed is adopted to judge whether the vehicle deviates from the current lane, specifically as follows:
at the current lateral speed v of the vehicleyAs a decision index of whether the vehicle deviates from the current lane;
said lateral velocity vyIs related to the current longitudinal speed V of the vehiclexVelocity in the vertical direction;
will lateral velocity vyWith a given speed threshold VdeMaking a comparison if vy＞VdeVehicle for transporting goodsThe vehicle deviates from the current lane if vy≤VdeThe vehicle does not deviate from the current lane.
Further, in the step 6, an early warning decision method based on the remaining Time (TLC) for the vehicle to cross the lane line is adopted to determine whether the vehicle deviates from the current lane, specifically as follows:
the remaining Time (TLC) of the vehicle crossing the lane line refers to the remaining time of the vehicle from the current time position to the lane line deviated from the side, and is calculated by the following method:
firstly, calculating the longitudinal distance from a front wheel of a vehicle to a lane line deviated from a side at the current moment;
then, calculating the remaining time of the vehicle crossing the lane line according to the longitudinal distance and the current longitudinal speed of the vehicle;
the calculation formula for TLC is:
Figure BDA0002214322240000041
where TLC represents the remaining time for the vehicle to cross the lane line, VxIndicating the current longitudinal speed of the vehicle and L the longitudinal distance from the front wheels of the vehicle to the departure side lane line at the current moment.
Setting a course angle in the vehicle deviation process, keeping the longitudinal speed and the transverse speed unchanged, and keeping the steering wheel rotation angle constant;
the remaining Time (TLC) of the vehicle crossing the lane line is compared with a given time threshold TdeFor comparison, if TLC < TdeWhen the vehicle deviates from the current lane, if TLC is more than or equal to TdeThe vehicle does not deviate from the current lane.
Preferably, the time threshold TdeTake 0.3 s.
Further, in the step 7, an early warning decision method based on a Future Offset Distance (FOD) is adopted to judge whether the vehicle deviates from the current lane; the method comprises the following specific steps:
judging whether a behavior of crossing lane lines exists when a driver turns to a curve in the previous n times of travel;
if the lane line is crossed, expanding the actual lane line to the outside for a certain distance to obtain a virtual lane boundary line;
if the crossing lane line does not exist, the virtual lane boundary line is superposed with the real lane line;
calculating the time between the time of predicting the future state of the vehicle and the current time, i.e. the forward looking time Tlookahead；
Forward looking time TlookaheadThe calculation formula of (2) is as follows:
Figure BDA0002214322240000051
in the formula, LvirtualIs the longitudinal distance, L, of the vehicle across the virtual lane boundary linewarningIs a departure from an early warning expected departure position, vyIs the current lateral velocity of the vehicle;
calculating a past look ahead time TlookaheadLateral position L of rear vehicleT；
Lateral position L of vehicleTThe calculation formula of (2) is as follows:
LT＝Lcurrent+Tlookahea*vy
in the formula, LcurrentIs the distance between the current vehicle and the virtual lane line;
longitudinal distance L for crossing vehicle on virtual lane boundary linevirtualLateral position L with respect to the vehicleTComparing;
if L isT＞LvirtualThe vehicle deviates from the current lane if LT≤LvirtualThe vehicle does not deviate from the current lane.
Further, various thresholds related in the invention can be obtained through experiments or experiences, and all the thresholds meeting the actual requirement of vehicle deviation early warning can be used as decision judgment thresholds.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
the system of the invention conforms to the driving habits of Chinese drivers under various road conditions, and the system has high sensitivity when the drivers drive at high speed, thereby being beneficial to correcting the bad driving habits of the drivers. When the vehicle runs at a low speed, the reserved reaction time of a driver is increased, the driving adaptation of the driver to the system is increased, the early warning deviation is reduced, and the vehicle adapts to various road conditions. And when the driver has awareness of vehicle starting, steering, lane changing and the like or the last alarm is just finished, the alarm is inhibited, frequent alarm is prevented, and the driving comfort is improved.
Drawings
Fig. 1 is a schematic structural diagram of a lane departure warning system provided by the present invention;
fig. 2 is a schematic flow chart of a lane departure warning method provided by the present invention.
Detailed Description
The technical process and the example structure of the invention will be clearly and completely described in the following with reference to the attached drawings provided in the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the scope of protection of the present invention.
As shown in fig. 1, the lane departure warning system according to the present invention includes a data acquisition unit, a data determination unit, and a departure warning unit.
The data acquisition unit is arranged in the vehicle and used for acquiring data in real time and transmitting the acquired data to the data judgment unit;
the data acquisition unit comprises a camera, a vehicle speed sensor, a steering wheel corner sensor, a steering lamp and a danger alarm lamp;
acquiring a current vehicle speed through a vehicle speed sensor;
acquiring a steering angle of a steering wheel through a steering angle sensor;
acquiring the offset distance and the offset angle of a vehicle, the current lane line position of a road, the lane width and the curvature radius of the road through a camera;
the turn signal and hazard warning light states are obtained by capturing signals on the turn signal and hazard warning light signal lines.
The data judgment unit is used for receiving the acquired data, performing deviation early warning judgment and transmitting an early warning instruction to the deviation early warning unit;
in order to avoid the influence on the driving experience of the driver due to unnecessary alarm generated by the lane departure warning system when the driver turns, changes lanes or starts, the lane departure warning suppression condition is determined before the lane departure determination.
The deviation-suppression early-warning condition comprises the following steps: the current speed, the states of a steering lamp and a danger warning lamp, the deviation distance of the vehicle, the steering wheel rotation rate and the two-time alarming time interval.
The deviation suppression judging unit is used for receiving the data transmitted by the data acquisition unit, judging whether the current moment meets the deviation suppression early warning condition or not and transmitting a judgment signal to the vehicle speed judging unit;
the vehicle speed judging unit is used for receiving the data transmitted by the data acquisition unit, inhibiting a judging signal of the deviation judging unit, judging whether the vehicle is greater than a preset vehicle speed threshold value or not, and transmitting the judging signal to the lane deviation judging unit and the road curvature radius judging unit;
the road curvature radius judging unit is used for receiving the data transmitted by the data acquisition unit and the judging signal transmitted by the vehicle speed judging unit, judging that the current road is a straight road or a curve, and transmitting the judging signal to the lane departure judging unit;
the lane departure judging unit is used for receiving the data transmitted by the data acquisition unit, judging signals transmitted by the vehicle speed judging unit and the road curvature radius judging unit, judging whether the vehicle departs from the current lane or not and transmitting the judging signals to the departure early warning unit.
And the deviation early warning unit is used for receiving a deviation early warning instruction and reminding a driver to prevent the vehicle from further deviating.
The departure warning unit reminds the driver of the vehicle by visual, tactile or audible means or applies appropriate resistance to the steering wheel to prevent further departure of the vehicle when the vehicle continues to depart from the lane.
As shown in fig. 2, a multi-scenario lane departure warning method includes the following steps:
s101, acquiring the current speed, offset distance and offset angle of a vehicle, a steering wheel steering angle, the current road lane line position, lane width, road curvature radius, a steering lamp and a danger warning lamp state in real time;
if the lane line can be detected, acquiring a lane line and a road width;
if the current lane line of the road cannot be obtained, respectively marking out virtual lane lines at certain distances from the inner sides of the curbs on two sides of the lane according to the detected roadbed width so as to replace the real lane lines;
the method for calculating the lane width and the roadbed width comprises the following steps:
Figure BDA0002214322240000071
wherein D is the lane width (m), DsubgradeIs the roadbed width (m), DsmaxThe maximum value of the roadbed width.
S102, judging whether the current moment meets the early warning condition of deviation suppression or not according to the data collected in the step S101;
if the inhibition condition is met, setting blocking duration, blocking subsequent operations, and continuing to judge data acquired at the next moment after the blocking duration is reached; if the suppression condition is not satisfied, executing step S103;
judging whether the current moment meets the early warning condition of deviation inhibition according to the acquired data; the method comprises the following specific steps:
s1021, enabling the current vehicle speed y to be smaller than the vehicle speed threshold value Vth1When the vehicle is in a starting or preparing side-by-side parking state, the deviation-inhibiting early-warning condition is met; vehicle speed threshold V in the present embodimentth1The value is 30 km/h;
s1022, when the driver turns on a dangerous alarm lamp or a steering lamp on a deviation side, the driver indicates that the driver has the intention of changing lanes, turning around or stopping, and the deviation-inhibiting early warning condition is met;
s1023, when the vehicle runs on a straight road and the transverse distance between the vehicle and the lane line deviated from the side of the vehicle is detected to be smaller than a set distance threshold value, the vehicle is in a lane-changing-ready state or a turning around state, and deviation-restraining early warning conditions are met;
s1024, when the fact that the driver rotates the steering wheel in the opposite direction of the deviation side is detected, and the turning angle rate is larger than a set rate threshold value, the fact that the driver finds that the vehicle deviates and has the intention of adjusting the deviation direction is indicated, and deviation restraining early warning conditions are met;
s1025, meeting the deviation-inhibiting early-warning condition within 3 seconds after the last deviation warning;
and S1026, when any deviation-inhibiting early warning condition is met, blocking subsequent operation, wherein the blocking time is set to be 1min, and continuing to judge data at the next moment after the blocking time is reached.
S103, judging whether the current vehicle speed is greater than a preset vehicle speed threshold value Vth2(ii) a If less than the threshold value Vth2Executing step S104; if greater than or equal to the threshold value Vth2Executing step S105;
s104, judging whether the curvature radius of the current road is larger than a set curvature radius threshold value Rth(ii) a If greater than the threshold value RthJudging that the current lane is a straight lane, and executing the step S106; if less than or equal to the threshold value RthJudging that the current lane is a curve, and executing the step S107;
vehicle speed threshold V in the present embodimentth2Taking 60 km/h; threshold value of radius of curvature RthTaking 250 m;
s105, judging whether the vehicle deviates from the current lane by adopting a transverse deviation speed-based early warning decision method, and turning to S108;
s106, judging whether the vehicle deviates from the current lane by adopting an early warning decision method for comparing the remaining Time (TLC) of the vehicle crossing the lane line with a time threshold, and turning to the step S108;
s107, judging whether the vehicle deviates from the current lane by adopting a Future Offset Distance (FOD) -based early warning decision method, and entering a step S108;
s108, judging whether the vehicle deviates from the lane or not according to an early warning decision method under the corresponding scene;
if the vehicle does not deviate from the lane, returning to the step S101;
if the vehicle deviates from the lane, when the vehicle continuously deviates from the lane, the lane deviation judging unit sends an instruction to the deviation early warning unit, and the driver is reminded through vision, touch or hearing, or appropriate resistance is applied to a steering wheel, so that the vehicle is prevented from further deviating.
In step S105, an early warning decision method based on a lateral offset speed is adopted to determine whether the vehicle deviates from the current lane, which is specifically as follows:
at the current lateral speed v of the vehicleyAs a decision index of whether the vehicle deviates from the current lane;
said lateral velocity vyIs related to the current longitudinal speed V of the vehiclexVelocity in the vertical direction;
will lateral velocity vyWith a given speed threshold VdeMaking a comparison if vy＞VdeThe vehicle deviates from the current lane if vy≤VdeThe vehicle does not deviate from the current lane.
In step S106, an early warning decision method based on the remaining Time (TLC) for the vehicle to cross the lane line is used to determine whether the vehicle deviates from the current lane, which is specifically as follows:
the remaining Time (TLC) of the vehicle crossing the lane line refers to the remaining time of the vehicle from the current time position to the lane line deviated from the side, and is calculated by the following method:
firstly, calculating the longitudinal distance from a front wheel of a vehicle to a lane line deviated from a side at the current moment;
then, calculating the remaining time of the vehicle crossing the lane line according to the longitudinal distance and the current longitudinal speed of the vehicle;
the calculation formula for TLC is:
Figure BDA0002214322240000081
where TLC represents the remaining time for the vehicle to cross the lane line, VxTo representThe current longitudinal speed of the vehicle, L, represents the longitudinal distance from the front wheels of the vehicle to the offset side lane line at the current time.
Setting a course angle in the vehicle deviation process, keeping the longitudinal speed and the transverse speed unchanged, and keeping the steering wheel rotation angle constant;
the remaining Time (TLC) of the vehicle crossing the lane line is compared with a given time threshold TdeFor comparison, if TLC < TdeWhen the vehicle deviates from the current lane, if TLC is more than or equal to TdeThe vehicle does not deviate from the current lane.
In this embodiment, the time threshold TdeTake 0.3 s.
In the step S107, whether the vehicle deviates from the current lane is determined by using a Future Offset Distance (FOD) -based early warning decision method; the method comprises the following specific steps:
judging whether a behavior of crossing lane lines exists when a driver turns to a curve in the previous n times of travel;
if the lane line is crossed, expanding the actual lane line to the outside for a certain distance to obtain a virtual lane boundary line;
if the crossing lane line does not exist, the virtual lane boundary line is superposed with the real lane line;
calculating the time between the time of predicting the future state of the vehicle and the current time, i.e. the forward looking time Tlookahead；
Forward looking time TlookaheadThe calculation formula of (2) is as follows:
Figure BDA0002214322240000082
in the formula, LvirtualIs the longitudinal distance, L, of the vehicle across the virtual lane boundary linewarningIs a departure from an early warning expected departure position, vyIs the current lateral velocity of the vehicle;
calculating a past look ahead time TlookaheadLateral position L of rear vehicleT；
Lateral position L of vehicleTThe calculation formula of (2) is as follows:
LT＝Lcurrent+Tlookahead*vy
in the formula, LcurrentIs the distance between the current vehicle and the virtual lane line;
longitudinal distance L for crossing vehicle on virtual lane boundary linevirtualLateral position L with respect to the vehicleTComparing;
if L isT＞LvirtualThe vehicle deviates from the current lane if LT≤LvirtualThe vehicle does not deviate from the current lane.

Claims (7)

1. A multi-scenario lane departure early warning method is characterized by comprising the following steps: the method comprises the following steps:
step 1, acquiring the current speed, offset distance and offset angle of a vehicle, a steering wheel steering angle, the current road lane line position, lane width, road curvature radius, the states of a steering lamp and a hazard warning lamp in real time;
step 2, judging whether the current moment meets the early warning condition of deviation inhibition according to the data collected in the step 1;
if the inhibition condition is met, setting blocking duration, blocking subsequent operations, and continuing to judge data acquired at the next moment after the blocking duration is reached; if the inhibition condition is not met, executing the step 3;
the deviation-suppression early-warning condition comprises the following steps: the current speed, the states of a steering lamp and a hazard warning lamp, the vehicle deviation distance, the steering wheel turning rate and the two-time alarming time interval;
step 3, judging whether the current vehicle speed is greater than a preset vehicle speed threshold value Vth2If it is less than the threshold value Vth2Executing the step 4; if greater than or equal to the threshold value Vth2Executing the step 5;
step 4, judging whether the curvature radius of the current road is larger than a set curvature radius threshold value Rth(ii) a If greater than the threshold value RthJudging that the current lane is a straight lane, and executing the step 6; if less than or equal to the threshold value RthJudging that the current lane is a curve, and executing the step 7;
step 5, judging whether the vehicle deviates from the current lane by adopting an early warning decision method based on the transverse deviation speed, and turning to step 8;
step 6, judging whether the vehicle deviates from the current lane by adopting an early warning decision method based on the remaining time of the vehicle crossing the lane line, and turning to step 8;
step 7, judging whether the vehicle deviates from the current lane by adopting a future offset distance-based early warning decision method, and entering step 8; the specific judgment method is as follows:
judging whether a behavior of crossing lane lines exists when a driver turns to a curve in the previous n times of travel;
if the lane line is crossed, the actual lane line is expanded outwards for a certain distance to obtain a virtual lane boundary line;
if the crossing lane line does not exist, the virtual lane boundary line is superposed with the real lane line;
calculating the time between the time of predicting the future state of the vehicle and the current time, i.e. the forward looking time Tlookahead；
Forward looking time TlookaheadThe calculation formula of (2) is as follows:
Figure FDA0002773939240000011
in the formula, LvirtualIs the longitudinal distance, L, of the vehicle across the virtual lane boundary linewarningIs a departure from an early warning expected departure position, vyIs the current lateral velocity of the vehicle;
calculating a past look ahead time TlookaheadLateral position L of rear vehicleT；
Lateral position L of vehicleTThe calculation formula of (2) is as follows:
LT＝Lcurrent+Tlookahead*vy
in the formula, LcurrentIs the distance between the current vehicle and the virtual lane line;
longitudinal distance L for crossing vehicle on virtual lane boundary linevirtualLateral position L with respect to the vehicleTComparing;
if L isT＞LvirtualThe vehicle deviates from the current lane if LT≤LvirtualThe vehicle does not deviate from the current lane;
step 8, if the vehicle does not deviate from the lane, returning to the step 1; and if the vehicle deviates from the lane, sending a deviation early warning instruction to prevent the vehicle from further deviating.
2. The multi-scenario lane departure warning method according to claim 1, characterized in that: in the step 1, when the position of the current lane line of the road is collected, the lane lines at two sides and the width of the road need to be detected and identified; the method comprises the following specific steps:
if the lane line is detected, acquiring the position and the width of the lane line;
if the current road lane line is not detected, respectively marking out virtual lane lines at certain distances from the inner sides of the curbs at two sides of the lane according to the detected roadbed width so as to replace the real lane lines;
the method for calculating the lane width and the roadbed width comprises the following steps:
Figure FDA0002773939240000021
wherein D is the lane width, DsubgradeTo the width of the roadbed DsmaxThe maximum value of the roadbed width.
3. The multi-scenario lane departure warning method according to claim 1, characterized in that: step 2, judging whether the current moment meets the deviation-inhibiting early-warning condition or not according to the acquired data; the method comprises the following specific steps:
2-1, the current vehicle speed V is less than the vehicle speed threshold value Vth1When the vehicle is in a starting or preparing side-by-side parking state, the deviation-inhibiting early-warning condition is met;
2-2, when the driver turns on a dangerous alarm lamp or a steering lamp at a deviation side, the driver indicates that the driver has the intention of changing lanes, turning around or stopping, and the deviation-inhibiting early-warning condition is met;
2-3, when the vehicle is detected to be less than a set distance threshold value from the transverse distance of the vehicle from the lane line deviated from the side lane line during straight lane driving, indicating that the vehicle is in a lane-ready change or turning around state, and meeting the early warning condition for inhibiting deviation;
2-4, when the steering wheel is detected to rotate towards the opposite direction of the deviation side by the driver, and the turning angle rate is greater than a set rate threshold value, the driver is indicated to find that the vehicle deviates and has the intention of adjusting the deviation direction, and the deviation-restraining early warning condition is met;
2-5, t of the alarm of one deviation in distance1Meeting the early warning condition of deviation inhibition within a time period;
2-6, blocking subsequent operation when any deviation inhibition early warning condition is met, and setting the blocking time as t2And after the blocking duration is reached, continuously judging the data at the next moment.
4. The multi-scenario lane departure warning method according to any one of claims 1-3, wherein: in the step 5, an early warning decision method based on the lateral deviation speed is adopted to judge whether the vehicle deviates from the current lane, which is specifically as follows:
at the current lateral speed v of the vehicleyAs a decision index of whether the vehicle deviates from the current lane;
said lateral velocity vyIs related to the current longitudinal speed V of the vehiclexVelocity in the vertical direction;
will lateral velocity vyWith a given speed threshold VdeMaking a comparison if vy＞VdeThe vehicle deviates from the current lane if vy≤VdeThe vehicle does not deviate from the current lane.
5. The multi-scenario lane departure warning method according to any one of claims 1-3, wherein: in the step 6, an early warning decision method based on the remaining time of the vehicle crossing the lane line is adopted to judge whether the vehicle deviates from the current lane, which is specifically as follows:
the remaining time of the vehicle crossing the lane line is the remaining time of the vehicle from the current time position to the lane line deviated from the side, and the calculation method is as follows:
firstly, calculating the longitudinal distance from a front wheel of a vehicle to a lane line deviated from a side at the current moment;
then, calculating the remaining time of the vehicle crossing the lane line according to the longitudinal distance and the current longitudinal speed of the vehicle;
the calculation formula is as follows:
Figure FDA0002773939240000031
where TLC represents the remaining time for the vehicle to cross the lane line, VxRepresenting the current longitudinal speed of the vehicle, and L representing the longitudinal distance from the front wheels of the vehicle to the deviated side lane line at the current moment;
setting a course angle in the vehicle deviation process, keeping the longitudinal speed and the transverse speed unchanged, and keeping the steering wheel rotation angle constant;
the remaining time TLC of the vehicle crossing the lane is compared with a given time threshold TdeFor comparison, if TLC < TdeWhen the vehicle deviates from the current lane, if TLC is more than or equal to TdeThe vehicle does not deviate from the current lane.
6. The multi-scenario lane departure warning method according to claim 1, characterized in that: acquiring a current vehicle speed through a vehicle speed sensor; acquiring a steering angle of a steering wheel through a steering angle sensor; acquiring the offset distance and the offset angle of a vehicle, the current lane line position of a road, the lane width and the curvature radius of the road through a camera; the turn signal and hazard warning light states are obtained by capturing signals on the turn signal and hazard warning light signal lines.
7. The multi-scenario lane departure warning system realized based on the method of claim 1, is characterized in that: the system comprises a data acquisition unit, a data judgment unit and a deviation early warning unit;
the data acquisition unit is arranged in the vehicle and used for acquiring data in real time and transmitting the acquired data to the data judgment unit;
the data judgment unit is used for receiving the acquired data, performing deviation early warning judgment and transmitting an early warning instruction to the deviation early warning unit;
the deviation early warning unit is used for receiving a deviation early warning instruction and reminding a driver to prevent the vehicle from further deviating;
the data acquisition unit comprises a camera, a vehicle speed sensor, a steering wheel corner sensor, a steering lamp and a danger alarm lamp;
acquiring a current vehicle speed through a vehicle speed sensor;
acquiring a steering angle of a steering wheel through a steering angle sensor;
acquiring the offset distance and the offset angle of a vehicle, the current lane line position of a road, the lane width and the curvature radius of the road through a camera;
acquiring states of the turn lights and the hazard warning lights by capturing signals on signal lines of the turn lights and the hazard warning lights;
the data judgment unit comprises a deviation inhibition judgment unit, a vehicle speed judgment unit, a road curvature radius judgment unit and a lane deviation judgment unit;
the deviation suppression judging unit is used for receiving the data transmitted by the data acquisition unit, judging whether the current moment meets the deviation suppression early warning condition or not and transmitting a judgment signal to the vehicle speed judging unit;
the vehicle speed judging unit is used for receiving the data transmitted by the data acquisition unit, inhibiting a judging signal of the deviation judging unit, judging whether the vehicle is greater than a preset vehicle speed threshold value or not, and transmitting the judging signal to the lane deviation judging unit and the road curvature radius judging unit;
the road curvature radius judging unit is used for receiving the data transmitted by the data acquisition unit and the judging signal transmitted by the vehicle speed judging unit, judging that the current road is a straight road or a curve, and transmitting the judging signal to the lane departure judging unit;
the lane departure judging unit is used for receiving the data transmitted by the data acquisition unit, judging signals transmitted by the vehicle speed judging unit and the road curvature radius judging unit, judging whether the vehicle departs from the current lane or not and transmitting the judging signals to the departure early warning unit.
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