CN111137287B - Lane departure early warning method and early warning system - Google Patents
Lane departure early warning method and early warning system Download PDFInfo
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- CN111137287B CN111137287B CN201911363809.XA CN201911363809A CN111137287B CN 111137287 B CN111137287 B CN 111137287B CN 201911363809 A CN201911363809 A CN 201911363809A CN 111137287 B CN111137287 B CN 111137287B
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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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a lane departure early warning method for vehicle active safety driving assistance, which comprises the steps of judging whether lane departure early warning conditions are met or not, and according to the vehicle speedSetting a preview time TpreCalculating the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the lane departure occurs. The invention also discloses a lane departure early warning system for the vehicle active safe driving assistance. The technical scheme of the invention avoids a large amount of geometric operation, can save system resources and improve the calculation speed of lane departure. Compared with the traditional scheme based on the transverse distance deviation alarm, the alarm logic based on the preview time fully considers the influence of the driving direction on the lane deviation early warning, can solve the problem of false alarm when the vehicle keeps driving in a straight line or drives towards the other side of the lane, can prevent the occurrence of the false alarm, and enhances the driving experience.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a lane departure early warning method for an advanced vehicle driving assistance system. The invention is also a lane departure warning system.
Background
As an important component of advanced driving assistance systems, lane departure warning has received much attention. The lane departure early warning system identifies lane line parameters through the front camera, judges the relative position of the vehicle and the lane line, and sends out an alarm to remind a driver to control a steering wheel in time if the lane departure early warning system detects that the vehicle has a departure trend, so that safety accidents caused by the driver deviating the lane unconsciously are prevented.
At present, lane departure early warning systems are equipped on a plurality of vehicles, and the alarm triggering logics of most of the lane departure early warning systems are two types, one type is lane departure based on distance, and the other type is lane departure based on time. The distance-based lane departure logic is generally: and (4) calculating the transverse distance between the vehicle and the lane line, and if the distance is smaller than an alarm threshold value, giving an alarm by the system. However, the influence factors of the driving direction of the vehicle on lane departure are neglected by the alarm triggering logic, when the vehicle keeps driving straight or drives towards the other side of the lane, even if the distance between the vehicle and the lane line on the other side is less than the threshold value, the vehicle still has no tendency of deviating from the lane, and the alarm logic gives false alarm and influences the driving experience. In the conventional time-based lane departure, although the influence of the driving direction of the vehicle on the lane departure is considered, the solution process of the TLC time is complicated due to the diversity of lane lines and the complex geometric equation. Therefore, the influence of the driving direction of the vehicle is considered, the complexity in the algorithm calculation process is reduced, and a control method based on advance preview is provided.
Disclosure of Invention
In this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to solve the technical problem of providing a lane departure early warning method which can overcome the defects of a lane departure early warning scheme based on time and distance threshold in the prior art.
Another technical problem to be solved by the present invention is to provide a lane departure warning system that overcomes the drawbacks of the prior art lane departure warning schemes based on time and based on distance thresholds.
In order to solve the technical problem, the invention provides a lane departure early warning method for vehicle active safe driving assistance, which comprises the following steps:
s1, judging whether the lane departure early warning condition is met;
s2, setting the preview time T according to the vehicle speedpre；
S3, calculating the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the lane departure occurs.
Optionally, the lane line parameters and the lane line equation are obtained by any one of the vehicle-mounted machine vision lane line recognition system and the driving assistance system based on the vision sensor in the prior art.
The lane departure early warning condition is that the vehicle simultaneously meets all the following working conditions;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
the vehicle body CAN line is divided into a high-speed CAN line used for a driving system, and is mainly connected with systems with higher real-time requirements, such as an engine, an automatic transmission, an ABS (anti-lock braking system), an ESP (electronic stability program) and the like, and is generally called as a chassis CAN in engineering, and signals output by the systems, such as signals of the engine speed, gear information, the vehicle speed, the wheel angle, the wheel cylinder pressure and the like, are generally called as chassis signals; a low-speed CAN line for a vehicle body system is mainly connected with an illumination system, a power window, an automatic air conditioner information display system and the like, and signals output by the systems, such as various illumination lamp switching signals, power window switching signals, air conditioner switching signals and the like, are generally called vehicle body signals in engineering.
B) The wheel speed is positive;
C) the vehicle speed is in a preset range;
alternatively, the vehicle speed is in the range of 60kph-200 kph.
D) Closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) the driver does not suppress the warning.
Wherein the driver suppressing the warning comprises any one of the following working conditions:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
Optionally, the lane departure warning method and the preview time T are further improvedpreThe relative position of the rear vehicle and the lane line is calculated in the following way;
s3.1, establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front side of the vehicle as an x-axis and the right left side of the vehicle as a y-axis;
s3.2, calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) Andor vehicle right front angular coordinate (x)FR，yFR)；
S3.3, recognizing lane lines on two sides of the lane, outputting lane line parameters, and converting the lane line parameters into a first plane coordinate system;
s3.4, obtaining a lane line equation on the left side of the vehicle and/or a lane line equation on the right side of the vehicle;
s3.5, the horizontal coordinate x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or, the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
Wherein, in step S3.2, the preview time T under different vehicle speed conditionspreBy calibration toAnd taking the target to be aimed, wherein the target to be aimed time is shorter when the vehicle speed is faster.
Optionally, the lane departure warning method is further improved, in step S3.2, if the vehicle speed changes, the preview time T is predictedpreAnd updating in real time according to the corresponding.
Optionally, the lane departure warning method is further improved, in step S3.2;
xFR＝xFL+W×sinα；
yFR＝yFL-W×cosα；
alpha is the angle of the center of the rear axle of the vehicle rotating in the preview time, L is the arc length of the vehicle walking in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the vehicle wheelbaseFroOverIs the front overhang length of the vehicle; (x, y) is the center coordinates of the rear axle of the vehicle, (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
Optionally, the lane departure warning method is further improved, and step S3.3 includes the following substeps;
s3.3.1, converting the vision sensor output parameters to the first plane coordinate system;
s3.3.2, the machine vision system recognizes the lane lines on both sides and outputs the y coordinate l at the point where the x coordinate of the lane lines on both sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3；
S3.3.3, establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And the equation of the right lane line yr＝r0+r1x+r2x2+r3x3。
The invention provides a lane departure early warning system for assisting in vehicle active safe driving, which comprises:
the system comprises a parameter acquisition module, a vehicle-mounted machine vision system and a vehicle-mounted CAN communication module, wherein the parameter acquisition module is suitable for acquiring a chassis signal and a vehicle body signal from a vehicle-mounted CAN line and acquiring a lane line parameter from the vehicle-mounted machine vision system;
the judging module is suitable for judging whether the lane departure early warning condition is met or not according to the data of the parameter acquiring module, and quitting the lane departure early warning system if the lane departure early warning condition is not met;
an early warning module for calculating the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the lane departure occurs.
The lane departure early warning condition is that the vehicle simultaneously meets all the following working conditions;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
B) the wheel speed is positive;
C) the vehicle speed is in a preset range;
D) closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) the driver does not suppress the warning.
Wherein the driver suppressing the warning comprises any one of the following working conditions:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
Optionally, the lane departure warning system is further improved, and the warning module judges whether the lane departs in the following way;
establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front of the vehicle as an x-axis and taking the right left side of the vehicle as a y-axis;
calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) Andor vehicle right front angular coordinate (x)FR，yFR)；
Recognizing lane lines on two sides of a lane, outputting lane line parameters, and converting the lane line parameters into a first plane coordinate system;
obtaining a lane line equation on the left side of the vehicle and/or a lane line equation on the right side of the vehicle;
the abscissa x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or, the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
Optionally, the lane departure warning system is further improved, and the preview time TpreThe vehicle speed and the preview time T are formed by calibration and acquisitionpreOne-dimensional table, the early warning module obtains the preview time T through the one-dimensional table look-uppre。
Optionally, further improving the lane departureThe early warning system is used for inquiring the vehicle speed and the preview time T in real time by the early warning module if the vehicle speed changespreOne-dimensional watch, preview time TpreAnd correspondingly implementing changes according to the calibration value.
Optionally, the lane departure warning system is further improved, and the warning module calculates a right front vehicle angular coordinate or a left front vehicle angular coordinate in the following manner;
xFR＝xFL+W×sinα；
yFR＝yFL-W×cosα；
alpha is the angle of the center of the rear axle of the vehicle rotating in the preview time, L is the arc length of the vehicle walking in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the vehicle wheelbaseFroOverIs the front overhang length of the vehicle; (x, y) are the vehicle rear axle center coordinates; (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
Optionally, the lane departure warning system is further improved, and the warning module acquires a lane line equation in the following manner;
converting the output parameters of the vision sensor into a first plane coordinate system;
the vehicle-mounted machine vision system identifies the lane lines on the two sides and outputs a y coordinate l of a point where the x coordinate of the lane lines on the two sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3Establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And or right lane line equation yr＝r0+r1x+r2x2+r3x3。
The conventional TLC algorithm calculates the movement time required from the current position of the vehicle to the time when the vehicle starts to contact with the Lane line, which may also be referred to as time To Lane Crossing (TLC) of the vehicle remaining from the current time to the time when the vehicle deviates from the Lane, determines whether the time is within a safety threshold, and triggers an alarm if the time is less than the safety threshold. However, due to the diversification and complexity of lane lines, the solution of TLC is complicated, and a large amount of geometric operations are required. The solution for TLC was:
as shown with reference to fig. 1.
The invention uses the remaining time of lane departure to give an alarm, but is completely different from the prior art. The invention provides a lane departure early warning system based on preview time, which can give an alarm when a driver has a tendency of deviating from a lane unconsciously and can prevent the occurrence of false alarm when the driver deviates based on distance calculation. Looking up a corresponding preview time T according to the current vehicle speedpreThe preview time T is calculated according to the running state of the vehicle (the running speed and the running direction of the vehicle)preAnd judging whether the vehicle has a lane departure trend or not according to the relative position of the rear vehicle and the lane line. The technical scheme of the invention avoids a large amount of geometric operation, can save system resources and improve the calculation speed of lane departure. Compared with the traditional scheme based on the transverse distance deviation alarm, the method and the device have the advantages that the influence of the driving direction on lane deviation early warning is fully considered based on the alarm logic of the preview, the problem of false alarm when the vehicle keeps driving in a straight line or drives towards the other side of the lane can be solved, the occurrence of false alarm can be prevented, and the driving experience is enhanced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a schematic diagram of the principle of the prior art TLC-based algorithm.
Fig. 2 is a flowchart illustrating a lane departure warning method according to a second embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating a first principle of a lane departure warning method according to a second embodiment of the present invention, which shows a right-turn condition of a vehicle.
Fig. 4 is a schematic diagram of a second embodiment of the lane departure warning method according to the present invention, which shows a straight-ahead driving condition of a vehicle.
Fig. 5 is a schematic diagram illustrating a first embodiment of the lane departure warning system according to the present invention, which shows a left-turn condition of a vehicle.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art.
The invention provides a lane departure early warning method for vehicle active safe driving assistance, which comprises the following steps:
s1, judging whether the lane departure early warning condition is met;
s2, setting the preview time T according to the vehicle speedpre；
S3, calculating the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the lane departure occurs.
The lane departure early warning method according to the first embodiment of the invention calculates the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has a lane departure trend or not according to the relative position of the rear vehicle and the lane line. This is the solution of the invention that avoids a large number of geometric runs. Moreover, the influence of the driving direction on lane departure early warning is fully considered, and the problem of false warning when the vehicle keeps driving straight or drives towards the other side of the lane can be solved.
As shown in fig. 2, the present invention provides a second embodiment of a lane departure warning method for active safe driving assistance of a vehicle, comprising the steps of:
s1, judging whether the lane departure early warning condition is met;
the lane departure early warning condition is that the vehicle simultaneously meets all the following working conditions;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
B) the wheel speed is positive;
C) the vehicle speed is in a preset range;
alternatively, the vehicle speed is in the range of 60kph-200 kph.
D) Closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) a driver-unsuppressed warning, the driver-suppressed warning comprising:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
S2, aiming time T under different vehicle speed conditionspreObtaining the target time through calibration, wherein the faster the vehicle speed is, the smaller the preview time is, and the T under the current vehicle speed is setpre(ii) a Wherein if the vehicle speed changes, the preview time T ispreAnd correspondingly implementing changes according to the calibration value.
S3, referring to FIG. 3, the current position of the vehicle is at position 1 and the preview time T is at position 2preThe position of the rear vehicle, taking the right turn of the vehicle as an example, the left turn and the straight line principle are the same and are not repeated, and the preview time TpreThe relative position of the rear vehicle and the lane line is calculated in the following way;
establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front of the vehicle as an x-axis and taking the right left side of the vehicle as a y-axis;
calculating the preview time TpreRight front angular coordinate (x) of rear vehicleFR，yFR)；
xFR＝xFL+W×sinα；
yFR＝yFL-W × cos α; alpha is the angle of the center of the rear axle of the vehicle rotating in the preview time, L is the arc length of the vehicle walking in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the vehicle wheelbaseFroOverIs the front overhang length of the vehicle; (x, y) is vehicleVehicle rear axle center coordinate, (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
Converting the output parameters of the vision sensor into a first plane coordinate system;
are each l0、l1、l2、l3、r0、r1、r2、r3Wherein l0Represents the distance between the origin of the coordinates and the lane line on the left side, l1Indicates the slope of the left lane line,/2Denotes the curvature of the left lane line,/3Representing the first derivative of curvature of the left lane line; in the same way, r0Represents the distance, r, between the origin of the coordinates and the lane line on the right1Indicates the slope of the right lane line, r2Shows the curvature of the right lane line, r3The first derivative of curvature of the right lane line is shown. The machine vision system identifies the lane lines on the two sides and outputs the y coordinate l of the point where the x coordinate of the lane lines on the two sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3(ii) a Establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And the equation of the right lane line yr＝r0+r1x+r2x2+r3x3。
Judging whether the right turn deviates or not, and setting the horizontal coordinate x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or judging whether the left turn deviates or not, and setting the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
The same principle of solution is used when the vehicle is traveling in a straight line, as shown with reference to fig. 4. The coordinate of the right front corner of the vehicle at the position 2 is (x)FR，yFR) The x coordinate of the right lane line is xFRThe y-axis coordinate is ylaneRIf y isFR≤ylaneRThe right front corner and the right lane are about to deviate; otherwise yFR＞ylaneRAnd the right front corner and the right lane do not deviate. In the same way, if yFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
The invention provides a first embodiment of a lane departure early warning system for assisting in the active safe driving of a vehicle, which comprises the following components:
the system comprises a parameter acquisition module, a vehicle-mounted machine vision system and a vehicle-mounted CAN communication module, wherein the parameter acquisition module is suitable for acquiring a chassis signal and a vehicle body signal from a vehicle-mounted CAN line and acquiring a lane line parameter from the vehicle-mounted machine vision system;
the judging module is suitable for judging whether the lane departure early warning condition is met or not according to the data of the parameter acquiring module, and quitting the lane departure early warning system if the lane departure early warning condition is not met;
an early warning module for calculating the preview time T according to the vehicle running speed and the vehicle running directionpreAnd judging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the lane departure occurs.
The invention provides a second embodiment of a lane departure warning system for assisting in the active safe driving of a vehicle, comprising:
the system comprises a parameter acquisition module, a vehicle-mounted machine vision system and a vehicle-mounted CAN communication module, wherein the parameter acquisition module is suitable for acquiring a chassis signal and a vehicle body signal from a vehicle-mounted CAN line and acquiring a lane line parameter from the vehicle-mounted machine vision system;
the judging module is suitable for judging whether the lane departure early warning condition is met or not according to the data of the parameter acquiring module, and quitting the lane departure early warning system if the lane departure early warning condition is not met; the lane departure early warning condition is that the vehicle simultaneously meets all the following working conditions;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
B) the wheel speed is positive;
C) the vehicle speed is in a preset range;
D) closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) a driver-unsuppressed warning, the driver-suppressed warning comprising:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
The early warning module is used for establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front side of the vehicle as an x-axis and taking the right left side of the vehicle as a y-axis;
calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) Andor vehicle right front angular coordinate (x)FR，yFR)；
Recognizing lane lines on two sides of a lane, outputting lane line parameters, and converting the lane line parameters into a first plane coordinate system;
obtaining a lane line equation on the left side of the vehicle and/or a lane line equation on the right side of the vehicle;
the abscissa x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or, the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
Optionally, the preview time TpreThe vehicle speed and the preview time T are formed by calibration and acquisitionpreOne-dimensional table, the early warning module obtains the preview time T through the one-dimensional table look-uppre. As described above, the preview time TpreAnd updating in real time according to the vehicle speed.
Referring to fig. 5, the current position of the vehicle is at position 1, and the preview time T is at position 2preThe position of the rear vehicle, taking the left turn of the vehicle as an example, the right turn and the straight line principle are the same and are not repeated, and the preview time TpreThe relative position of the rear vehicle and the lane line is calculated in the following way;
establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front of the vehicle as an x-axis and taking the right left side of the vehicle as a y-axis;
calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) And;
xFR＝xFL+W×sinα；
yFL＝yFR-W×cosα；
alpha is at the time of previewThe angle of the rear axle center of the vehicle in the workshop, L is the arc length of the vehicle in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the distance between the vehicle and the axleFroOverIs the front overhang length of the vehicle; (x, y) are the vehicle rear axle center coordinates; (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
Converting the output parameters of the vision sensor into a first plane coordinate system;
are each l0、l1、l2、l3、r0、r1、r2、r3Wherein l0Represents the distance between the origin of the coordinates and the lane line on the left side, l1Indicates the slope of the left lane line,/2Denotes the curvature of the left lane line,/3Representing the first derivative of curvature of the left lane line; in the same way, r0Represents the distance, r, between the origin of the coordinates and the lane line on the right1Indicates the slope of the right lane line, r2Shows the curvature of the right lane line, r3The first derivative of curvature of the right lane line is shown. The machine vision system identifies the lane lines on the two sides and outputs the y coordinate l of the point where the x coordinate of the lane lines on the two sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3(ii) a Establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And the equation of the right lane line yr＝r0+r1x+r2x2+r3x3。
Judging whether the left turn deviates or not, and enabling the left front corner abscissa x of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
Further, it will be understood that, although the terms first, second, etc. may be used herein to describe various elements, parameters, components, regions, layers and/or sections, these elements, parameters, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, parameter, component, region, layer or section from another element, parameter, component, region, layer or section. Thus, a first element, parameter, component, region, layer or section discussed below could be termed a second element, parameter, component, region, layer or section without departing from the teachings of exemplary embodiments according to the present invention.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (14)
1. A lane departure warning method for vehicle active safe driving assistance, characterized by comprising the steps of:
s1, judging whether the lane departure early warning condition is met;
s2, setting the preview time T according to the vehicle speedpre；
S3, calculating the preview time T according to the vehicle speed and the vehicle running directionpreThe relative position of the rear vehicle and the lane line is used for judging whether the vehicle has lane departure or not, and if the lane departure occurs, the vehicle is judged to have lane departureOutputting an early warning;
wherein the preview time TpreThe relative position of the rear vehicle and the lane line is calculated in the following way;
s3.1, establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front side of the vehicle as an x-axis and the right left side of the vehicle as a y-axis;
s3.2, calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) Andor vehicle right front angular coordinate (x)FR，yFR)；
S3.3, recognizing lane lines on two sides of the lane, outputting lane line parameters, and converting the lane line parameters into a first plane coordinate system;
s3.4, obtaining a lane line equation on the left side of the vehicle and/or a lane line equation on the right side of the vehicle;
s3.5, the horizontal coordinate x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or, the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
2. The lane departure warning method according to claim 1, wherein the lane departure warning condition is that the vehicle satisfies all of the following conditions at the same time;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
B) the wheel speed is positive;
C) the vehicle speed is in a preset range;
D) closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) the driver does not suppress the warning.
3. The lane departure warning method according to claim 2, wherein: the driver suppressing the warning comprises any one of the following conditions:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
4. The lane departure warning method according to claim 1, wherein: in step S2, the preview time T is taken under different vehicle speedspreAnd obtaining through calibration.
5. The lane departure warning method according to claim 4, wherein: in step S2, the preview time T is predicted when the vehicle speed changespreAnd updating in real time according to the corresponding vehicle speed.
6. The lane departure warning method according to claim 1, wherein: step S3.2;
xFR＝xFL+W×sinα；
yFR＝yFL-W×cosα；
alpha is the angle of the center of the rear axle of the vehicle rotating in the preview time, L is the arc length of the vehicle walking in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the vehicle wheelbaseFroOverIs the front overhang length of the vehicle; (x, y) are the vehicle rear axle center coordinates; (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
7. The lane departure warning method according to claim 1, wherein: step S3.3 comprises the following substeps;
s3.3.1, converting the vision sensor output parameters to the first plane coordinate system;
s3.3.2, the machine vision system recognizes the lane lines on both sides and outputs the y coordinate l at the point where the x coordinate of the lane lines on both sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3；
S3.3.3, establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And the equation of the right lane line yr＝r0+r1x+r2x2+r3x3。
8. A lane departure warning system for vehicle active safety driving assistance, comprising:
the system comprises a parameter acquisition module, a vehicle-mounted machine vision system and a vehicle-mounted CAN communication module, wherein the parameter acquisition module is suitable for acquiring a chassis signal and a vehicle body signal from a vehicle-mounted CAN line and acquiring a lane line parameter from the vehicle-mounted machine vision system;
the judging module is suitable for judging whether the lane departure early warning condition is met or not according to the data of the parameter acquiring module, and quitting the lane departure early warning system if the lane departure early warning condition is not met;
an early warning module for calculating the preview time T according to the vehicle speed and the vehicle running directionpreJudging whether the vehicle has lane departure or not according to the relative position of the rear vehicle and the lane line, and outputting early warning if the vehicle has lane departure;
the early warning module judges whether the lane deviates in the following mode;
establishing a first plane coordinate system by taking the center of a rear axle of the vehicle at the current position as an origin, taking the right front of the vehicle as an x-axis and taking the right left side of the vehicle as a y-axis;
calculating the preview time TpreRear vehicle front left corner coordinates (x)FL，yFL) Andor vehicle right front angular coordinate (x)FR，yFR)；
Recognizing lane lines on two sides of a lane, outputting lane line parameters, and converting the lane line parameters into a first plane coordinate system;
obtaining a lane line equation on the left side of the vehicle and/or a lane line equation on the right side of the vehicle;
the abscissa x of the right front corner of the vehicleFRThe right front lane line equation is brought into to obtain the right front lane angle judgment vertical coordinate ylaneRIf y isFR≤ylaneRJudging that the right front corner and the right lane of the vehicle are about to deviate if yFR＞ylaneRJudging that the right front vehicle angle and the right lane of the vehicle do not deviate;
or, the horizontal coordinate x of the left front corner of the vehicleFLThe left lane line equation is brought into to obtain the left front vehicle angle judgment vertical coordinate ylaneLIf y isFL＞ylaneLJudging that the left front corner and the left lane of the vehicle are about to deviate if yFL≤ylaneLAnd judging that the left front corner and the left lane of the vehicle do not deviate.
9. The lane departure warning system according to claim 8, wherein the lane departure warning condition is that the vehicle satisfies all of the following conditions simultaneously;
A) the CAN line input chassis signal and the vehicle body signal are both effective;
B) the wheel speed is positive;
C) the vehicle speed is in a preset range;
D) closing each vehicle door;
E) locking the safety belts at the positions of the passengers;
F) vehicle remote control is not enabled;
G) the driver does not suppress the warning.
10. The lane departure warning system according to claim 9, wherein: the driver suppressing the warning comprises any one of the following conditions:
a) the hand force applied to the steering wheel by the driver is greater than the hand force threshold;
b) when the left side deviates, the left steering lamp is turned on;
c) the right turn light is turned on when the right side deviates;
d) the vehicle is not in a D gear or an N gear;
e) closing lane departure early warning;
f) the front wheel steering angle is greater than a front wheel steering angle threshold;
g) the yaw rate is greater than a yaw rate threshold value;
h) the power switch is turned off.
11. The lane departure warning system according to claim 8, wherein: the preview time TpreThe vehicle speed and the preview time T are formed by calibration and acquisitionpreOne-dimensional table, the early warning module obtains the preview time T through the one-dimensional table look-uppre。
12. The lane departure warning system according to claim 11, wherein: if the vehicle speed changes, the early warning module inquires the vehicle speed and the preview time T in real timepreOne-dimensional watch, preview time TpreAnd correspondingly changing in real time according to the vehicle speed calibration value.
13. The lane departure warning system according to claim 8, wherein: the early warning module calculates the right front vehicle angular coordinate or the left front vehicle angular coordinate in the following way;
xFR＝xFL+W×sinα；
yFR＝yFL-W×cosα；
alpha is the angle of the center of the rear axle of the vehicle rotating in the preview time, L is the arc length of the vehicle walking in the preview time, R is the steering radius of the vehicle, V is the longitudinal speed of the vehicle, W is the vehicle width, WB is the vehicle wheelbase, L is the vehicle wheelbaseFroOverIs the front overhang length of the vehicle; (x, y) are the vehicle rear axle center coordinates; (x)FR，yFR) Is the angular coordinate of the right front vehicle of the vehicle, (x)FL，yFL) Is the left front vehicle angle coordinate of the vehicle.
14. The lane departure warning system according to claim 8, wherein: the early warning module acquires a lane line equation in the following mode;
converting the output parameters of the vision sensor into a first plane coordinate system;
the vehicle-mounted machine vision system identifies the lane lines on the two sides and outputs a y coordinate l of a point where the x coordinate of the lane lines on the two sides is 00、r0Slope of the point l1、r1Curvature of the point l2、r2And the curvature derivative l of the point3、r3Establishing a left lane line equation y based on the identified lane line parametersl＝l0+l1x+l2x2+l3x3And or right lane line equation yr＝r0+r1x+r2x2+r3x3。
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| CN112977445A (en) * | 2021-03-25 | 2021-06-18 | 江苏理工学院 | Lane keeping auxiliary system based on EPS |
| CN113060158B (en) * | 2021-04-09 | 2022-08-30 | 北京嘀嘀无限科技发展有限公司 | Driving early warning method, device and medium based on multi-mode data |
| CN115848398B (en) * | 2022-11-22 | 2024-02-02 | 上海大学 | Lane departure early warning system assessment method based on learning and considering driver behavior characteristics |
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