CN111731264A - Continuous lane change driving behavior monitoring control method and system - Google Patents
Continuous lane change driving behavior monitoring control method and system Download PDFInfo
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- CN111731264A CN111731264A CN201910229523.6A CN201910229523A CN111731264A CN 111731264 A CN111731264 A CN 111731264A CN 201910229523 A CN201910229523 A CN 201910229523A CN 111731264 A CN111731264 A CN 111731264A
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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
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Abstract
The invention relates to the technical field of safe driving of vehicles, and provides a method and a system for monitoring and controlling continuous lane-changing driving behaviors, wherein the method comprises the following steps: acquiring a road image in front of a vehicle, and detecting whether a lane line crossing scene exists according to the road image; when the lane line crossing scene exists, counting lane change times of the lane line crossing scene in a set time period; determining whether continuous lane change driving behavior exists in the vehicle based on the lane change times in the set time period. Therefore, the vehicle can monitor whether continuous lane changing driving behaviors exist in a short time or not, so that safety measures are convenient to take, and traffic accidents caused by continuous lane changing are reduced.
Description
Technical Field
The invention relates to the technical field of safe driving of vehicles, in particular to a method and a system for monitoring and controlling continuous lane-changing driving behaviors.
Background
The continuous lane change of the automobile refers to continuous lane change during lane change, which is a dangerous driving behavior and is also prohibited by the regulations in traffic regulations, but in reality, many drivers have the habit. Especially, the continuous lane change of the vehicle during the high-speed driving is more dangerous, and when the expressway has multiple lanes, the behavior is more prevented.
However, there is a bad habit that some drivers have commonly used in daily driving: the driving habit is very dangerous because of continuous lane change in a short time, and traffic accidents and even lives are extremely easy to be threatened.
Disclosure of Invention
In view of this, the present invention is directed to a method for monitoring and controlling driving behavior of continuous lane changing, so as to implement autonomous monitoring of driving behavior of continuous lane changing by a vehicle, thereby reducing occurrence probability of traffic accidents caused by continuous lane changing.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a continuous lane change driving behavior monitoring control method comprises the following steps: acquiring a road image in front of a vehicle, and detecting whether a lane line crossing scene exists according to the road image; when the lane line crossing scene exists, counting lane change times of the lane line crossing scene in a set time period; determining whether continuous lane change driving behavior exists in the vehicle based on the lane change times in the set time period.
Further, the detecting whether the lane line passes through the scene according to the road image includes: detecting whether a lane line exists in the road image; when a lane line is detected in the road image and the detected lane line disappears again in a later road image, it is determined that there is a lane line crossing scene.
Further, the set time period is a counting period of a timer, wherein the determining whether the vehicle has the continuous lane-changing driving behavior based on the lane-changing times in the set time period comprises: when the lane changing times in the first timing period are larger than or equal to a preset time threshold value, determining that the vehicle has continuous lane changing driving behaviors; and when the lane change times in the first timing period are smaller than the time threshold value, determining that the vehicle does not have continuous lane change driving behaviors in the first timing period, clearing the lane change times in a second timing period after the first timing period, and counting the lane change times of the second timing period again.
Further, after the determining whether there is a continuous lane-change driving behavior of the vehicle based on the number of lane changes within the set period of time, the continuous lane-change driving behavior monitoring control method further includes: generating an alert trigger signal when it is determined that continuous lane change driving behavior exists for the vehicle; and triggering and executing acousto-optic warning for instrument lane change and/or flashing warning of a steering lamp according to the alarm triggering signal.
Further, when there is a lane line crossing scene, counting the lane change times of the lane line crossing scene in a set time period includes: when a lane crossing scene exists, detecting whether the running speed of the vehicle is greater than a preset speed threshold value; and counting lane change times of the lane line crossing scene in a set time period if the vehicle running speed is greater than or equal to the speed threshold.
Compared with the prior art, the continuous lane-changing driving behavior monitoring control method has the following advantages:
according to the continuous lane changing driving behavior monitoring control method, the road image in front of the vehicle is obtained, whether a lane line crossing scene or a lane changing condition exists is detected, the lane changing times in a set time period are counted when the lane line crossing scene exists, and whether the continuous lane changing driving behavior exists in the vehicle is determined. Therefore, lane change is detected based on the image acquisition and analysis technology, and lane change times in a set time period are counted, so that whether continuous lane change driving behaviors exist in a short time or not can be monitored by a vehicle, safety measures are convenient to take, and traffic accidents caused by continuous lane change are reduced.
Another objective of the present invention is to provide a continuous lane change driving behavior monitoring and controlling system, so as to implement that a vehicle autonomously monitors a continuous lane change driving behavior, thereby reducing the occurrence probability of a traffic accident caused by a continuous lane change.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a continuous lane change driving behavior monitoring control system, the continuous lane change behavior monitoring system comprising: the lane change detection unit is used for acquiring a road image in front of a vehicle and detecting whether a lane line crossing scene exists according to the road image; the lane change times counting unit is used for counting the lane change times of the lane line crossing scene in a set time period when the lane line crossing scene exists; a continuous lane change determination unit configured to determine whether there is a continuous lane change driving behavior of the vehicle based on the number of lane changes within the set period of time.
Further, the lane change detection unit includes: the lane line detection module is used for detecting whether a lane line exists in the road image; and the image continuous detection module is used for determining that the lane line crossing scene exists when the lane line is detected in the road image and the detected lane line disappears in a later road image.
Further, the set time period is a timing period of a timer, wherein the continuous lane change determining unit is further configured to determine that a continuous lane change driving behavior exists in the vehicle when a lane change number in a first timing period is greater than or equal to a preset number threshold, and determine that the continuous lane change driving behavior does not exist in the vehicle in the first timing period when the lane change number in the first timing period is less than the number threshold, and clear the lane change number in a second timing period after the first timing period, and newly count the lane change number for the second timing period.
Further, the continuous lane change driving behavior monitoring control system further comprises: a warning signal generation unit for generating a warning trigger signal when it is determined that there is a continuous lane change driving behavior of the vehicle; and the alarm unit is used for triggering and executing acousto-optic warning of instrument lane change and/or flashing warning of a steering lamp according to the alarm trigger signal.
Further, the lane change frequency counting unit is further configured to detect whether a vehicle driving speed is greater than a preset speed threshold value when a lane line crossing scene exists, and count the lane change frequency of the lane line crossing scene in a set time period if the vehicle driving speed is greater than or equal to the speed threshold value.
Compared with the prior art, the continuous lane changing driving behavior monitoring control system and the continuous lane changing driving behavior monitoring control method have the same advantages, and are not described herein again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a continuous lane change driving behavior monitoring control method according to an embodiment of the present invention;
fig. 2 is a flowchart of identifying a lane line crossing scene in the continuous lane change driving behavior monitoring control method according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of an exemplary architecture of a continuous lane change driving behavior monitoring control method according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a continuous lane change driving behavior monitoring method according to an embodiment of the present invention;
fig. 5 is a block diagram of a monitoring and controlling system for continuous lane change driving behavior according to an embodiment of the present invention.
Description of reference numerals:
501 lane change detection unit 502 lane change times statistical unit
503 continuous lane change determination unit 504 alarm signal generation unit
505 alarm unit
50 continuous lane change driving behavior monitoring control system
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1, a method for monitoring and controlling continuous lane-change driving behavior according to an embodiment of the present invention includes:
and S11, acquiring a road image in front of the vehicle, and detecting whether a lane line crossing scene exists according to the road image.
Regarding the execution subject of the continuous lane change driving behavior monitoring control method according to the embodiment of the present invention, it may be implemented by any controller or processor installed on the vehicle, and for example, the controller or processor may be a new processor or controller attached to the vehicle, and it may also be a controller or processor (for example, a vehicle controller) of the vehicle itself, and all fall within the protection scope of the present invention.
Regarding the acquisition mode of the road image in front of the vehicle, a camera is mounted on the calling vehicle head to acquire the road image in front of the vehicle, and then the road image is analyzed to determine whether the vehicle has continuous lane changing driving behavior. Regarding the identification manner of the lane line crossing scene, it may be implemented by the flow shown in fig. 2: s111, detecting whether a lane line exists in the road image, for example, detecting the lane line in an image recognition mode, wherein the lane line appears right ahead of the vehicle and can indicate a driving line pressing of the vehicle; s112, when a lane line is detected in the road image and the detected lane line disappears in the later road image, determining that there is a lane line crossing scene, for example, the road image may be continuously captured, and a lane line may not be detected in the road image in front of the vehicle within a preset time (a short time, which may be, for example, 2 seconds) after the vehicle line is pressed, which may be determining that there is a lane line crossing scene (or a vehicle lane change).
And S12, when the lane line crossing scene exists, counting the lane change times of the lane line crossing scene in a set time period.
The set time period may be a time period defined by a user or preset by an automobile manufacturer, may be an arbitrary value, and may also be a time period indicating a repetition (for example, a time period of a timer) so as to periodically count the lane change times.
And S13, determining whether the vehicle has continuous lane changing driving behavior or not based on the lane changing times in the set time period.
When the lane change times in the set time period are too large, the vehicle is determined to have the continuous lane change driving behavior, and correspondingly, when the lane change times in the set time period are proper or less, the vehicle is determined not to have the continuous lane change driving behavior.
In some embodiments, the set time period may be a timed period of a timer, and thus the continuous lane change driving behavior may be determined by: when the lane changing times in the first timing period are larger than or equal to a preset time threshold value, determining that the vehicle has continuous lane changing driving behaviors; and when the lane change times in the first timing period are smaller than the time threshold value, determining that the continuous lane change driving behavior of the vehicle does not exist in the first timing period, clearing the lane change times in a second timing period after the first timing period, and counting the lane change times of the second timing period again for continuously determining whether the continuous lane change driving behavior exists in the second timing period or each timing period.
It should be noted that people may generate continuous lane-changing driving behaviors due to habits, and may also generate continuous lane-changing driving behaviors due to vehicle failures, and the like; in addition, no matter what the reason is, the continuous lane changing driving behavior influences the safe driving of the road, so that the embodiment of the invention also provides that the vehicle passes through the warning action to reduce the potential safety hazard of the road driving when the continuous lane changing driving behavior occurs.
In some preferred embodiments, when it is determined that the vehicle has the continuous lane-changing driving behavior, an alarm trigger signal can be generated, and the execution of the triggering comprises instrument lane-changing acousto-optic warning and/or steering lamp flashing warning according to the alarm trigger signal. The alarm trigger signals can be respectively sent to different controllers so as to implement different alarm actions; as an example, in one aspect, an alarm trigger signal may be sent to the meter controller to perform a meter lane change audible and visual alert to alert the driver to stop the continuous lane change driving behavior; on the other hand, the alarm trigger signal can also be sent to the vehicle body controller to execute steering lamp flashing warning (for example, the left and right steering lamps flash at the same time), so that the road people are warned to avoid the vehicle, and the road driving safety factor is improved.
In addition, the driving scene of the low-speed lane change of the vehicle may not be concerned, because it is possible that the driver changes the lane or turns around by autonomously reducing the speed, without generating great potential safety hazard; and, the driving scene of the vehicle changing lane at high speed should get more attention. Accordingly, the driving speed of the vehicle may be analyzed in advance before detecting whether the vehicle has a continuous lane changing driving behavior, specifically, it may be detected whether the driving speed of the vehicle is greater than a preset speed threshold when there is a lane crossing scene, and, if the driving speed of the vehicle is greater than or equal to the speed threshold, the number of lane changing times of the lane crossing scene occurring within a set time period is counted, where the speed threshold may be user-defined or set by a manufacturer. Therefore, the monitoring of the continuous lane changing behavior of the vehicle during high-speed running is ensured, and the safe driving performance of the vehicle is improved.
Fig. 3 shows an exemplary architecture of a continuous lane change driving behavior monitoring control method applying an embodiment of the present invention, which analyzes and evaluates the continuous lane change driving behavior of a driver through image analysis, and prompts the driver in time when a dangerous driving coefficient is high, that is, prompts for preventing the driver from changing lanes continuously, so as to reduce the possibility of accidents. The architecture shown in fig. 3 mainly includes an instrument controller, a vehicle body controller, a front-view camera system, a turn signal lamp, and the like. The left steering lamp and the right steering lamp are respectively connected with the vehicle body controller through hard wires, and the forward-looking camera system collects lane lines and performs data processing; the instrument controller, the whole vehicle controller, the vehicle body controller and the front-view camera system are connected through a CAN bus. As shown in fig. 4, a principle flow of a continuous lane change driving behavior monitoring and controlling method according to an embodiment of the present invention includes a flow of a continuous lane change preventing control for a driver, which specifically includes:
1) the driver sets the upper limit N of the continuous lane change times through the instrument controller and is used for prompting the driver to request no continuous lane change after the continuous lane change is carried out for N times. And after the lane change times N are set, respectively resetting a counter and a timer T in the vehicle control unit.
2) The front-view camera collects real-time road condition information and analyzes whether the vehicle changes lanes or not, and the lane changing is considered to be performed once when the vehicle passes through a lane line. The fact that the lane line does not exist in the front of the vehicle can be determined that the vehicle runs in the lane line, when the lane line appears in the middle of the front of the vehicle, the lane line can be regarded as a pressing line, and when the lane line disappears again, the lane line can be regarded as passing through the lane line. And after the vehicle passes through the lane line every time, the forward-looking camera system sends a lane change signal to the vehicle control unit.
Therefore, the front-view camera collects real-time road condition information and analyzes whether the vehicle has a lane change strategy or not, and the vehicle can be considered to have lane change once when passing through the lane line once. The fact that no lane line exists right in front of the vehicle can be determined that the vehicle runs in the lane line, when the lane line appears in the middle of the front of the vehicle, the lane line can be regarded as a pressing line, and when the lane line disappears again, the lane line can be regarded as a lane crossing line or a lane changing line.
3) And when the vehicle speed is more than 5km/h, starting timing T by the vehicle control unit. And when the vehicle control unit receives a lane change signal sent by the forward-looking camera, the vehicle is considered to change lanes once, and the counter n is increased by 1. The vehicle control unit judges whether to give out a warning or not by calculating whether the lane change number N in the T0 (which can be calibrated) time is greater than N. Therefore, the vehicle control unit may determine whether to issue a warning by calculating whether the lane change number N in the time T0 is greater than N.
And if the number N of continuous lane change times within the time T0 is less than the set upper limit N of the number of continuous lane change times, the vehicle control unit regards the vehicle as safe driving, does not send out a warning prompt, and clears when the timer reaches T0.
If the number N of continuous lane changing times within the time T0 is larger than or equal to the upper limit N of the number of continuous lane changing times, the driver is considered to continuously change lanes within a short time, the vehicle control unit sends an instruction to the instrument controller and the vehicle body controller, the instrument prompts the driver not to continuously change lanes and sends out a three-level alarm sound, and the vehicle body controller controls the left and right turn lights to be simultaneously lightened for warning surrounding vehicles.
At the same time, a timer t is started for timing the duration of the prompt message. If the prompting time is less than t0 (can be calibrated), returning to continue prompting the driver and surrounding vehicles. And if the prompting time is more than or equal to t0, the vehicle control unit stops sending a prompting instruction to the instrument controller and the vehicle body controller, the instrument stops prompting without continuous lane changing and three-level alarm sound, the left and right turn lamps controlled by the vehicle body controller are turned off, and the timer t is reset and returns to the initial continuous judgment.
In the embodiment of the invention, when the dangerous driving that the driver frequently changes the lane is judged in a short time, the vehicle control unit sends an instruction to the instrument controller and the vehicle body controller, the instrument prompts no continuous lane change and sends out a three-level alarm sound, and the vehicle body controller controls the left and right steering lamps to be simultaneously lightened for warning surrounding vehicles. Wherein, the dangerous driving of continuously changing lanes in a short time is judged in time and the driver is prompted to 'continuously change lanes and please drive cautiously'; in addition, the other vehicles around the vehicle may be notified of "the vehicle is traveling unstably and please avoid" by the double flashing of the vehicle. Therefore, the probability of traffic accidents caused by the lane change behavior of the vehicle can be effectively reduced through multiple warnings.
As shown in fig. 5, in a continuous lane change driving behavior monitoring control system 50 according to an embodiment of the present invention, the continuous lane change behavior monitoring system 50 includes: the lane change detection unit 501 is configured to acquire a road image located in front of a vehicle, and detect whether a lane line crossing scene exists according to the road image; a lane change times counting unit 502, configured to count lane change times of a lane line crossing scene in a set time period when the lane line crossing scene exists; a continuous lane change determination unit 503 configured to determine whether there is a continuous lane change driving behavior of the vehicle based on the number of lane changes within the set time period.
In some embodiments, the lane change detection unit 501 includes: the lane line detection module is used for detecting whether a lane line exists in the road image; and the image continuous detection module is used for determining that the lane line crossing scene exists when the lane line is detected in the road image and the detected lane line disappears in a later road image.
In some embodiments, the set time period is a counting period of a timer, wherein the continuous lane change determining unit 503 is further configured to determine that continuous lane change driving behavior exists in the vehicle when a lane change number in a first counting period is greater than or equal to a preset number threshold, and determine that continuous lane change driving behavior does not exist in the vehicle in the first counting period when the lane change number in the first counting period is less than the number threshold, and clear the lane change number in a second counting period after the first counting period, and count the lane change number in relation to the second counting period again.
In some embodiments, the continuous lane change driving behavior monitoring control system 50 further comprises: a warning signal generation unit 504 for generating a warning trigger signal when it is determined that there is a continuous lane change driving behavior of the vehicle; and an alarm unit 505, configured to trigger execution of an acousto-optic warning for instrument lane change and/or a turn signal flashing warning according to the alarm trigger signal.
In some embodiments, the lane change number counting unit 502 is further configured to detect whether a vehicle driving speed is greater than a preset speed threshold when there is a lane line crossing scene, and count the number of lane changes occurring in the lane line crossing scene within a set time period if the vehicle driving speed is greater than or equal to the speed threshold.
For more details of the continuous lane-changing driving behavior monitoring and controlling system according to the embodiment of the present invention, reference may be made to the above description related to the continuous lane-changing driving behavior monitoring and controlling method embodiment, and the same or corresponding technical effects as those of the continuous lane-changing driving behavior monitoring and controlling method described above can be obtained, so that details are not repeated herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A continuous lane change driving behavior monitoring control method is characterized by comprising the following steps:
acquiring a road image in front of a vehicle, and detecting whether a lane line crossing scene exists according to the road image;
when the lane line crossing scene exists, counting lane change times of the lane line crossing scene in a set time period;
determining whether continuous lane change driving behavior exists in the vehicle based on the lane change times in the set time period.
2. The continuous lane change driving behavior monitoring control method according to claim 1, wherein the detecting whether there is a lane line crossing scene according to the road image comprises:
detecting whether a lane line exists in the road image;
when a lane line is detected in the road image and the detected lane line disappears again in a later road image, it is determined that there is a lane line crossing scene.
3. The continuous lane-change driving behavior monitoring control method according to claim 1, wherein the set time period is a counting period of a timer, and wherein the determining whether the vehicle has the continuous lane-change driving behavior based on the number of lane changes within the set time period comprises:
when the lane changing times in the first timing period are larger than or equal to a preset time threshold value, determining that the vehicle has continuous lane changing driving behaviors; and
when the lane change times in the first timing period are smaller than the time threshold value, determining that the vehicle does not have continuous lane change driving behaviors in the first timing period, clearing the lane change times in a second timing period after the first timing period, and counting the lane change times of the second timing period again.
4. The continuous lane change driving behavior monitoring control method according to claim 1, characterized in that after the determination of whether there is a continuous lane change driving behavior of the vehicle based on the number of lane changes within the set period of time, the continuous lane change driving behavior monitoring control method further comprises:
generating an alert trigger signal when it is determined that continuous lane change driving behavior exists for the vehicle; and
and triggering and executing an acousto-optic warning for instrument lane changing and/or a turn light flashing warning according to the alarm triggering signal.
5. The continuous lane change driving behavior monitoring control method according to claim 1, wherein when a lane line crossing scene exists, counting the number of lane changes occurring in the lane line crossing scene within a set time period comprises:
when a lane crossing scene exists, detecting whether the running speed of the vehicle is greater than a preset speed threshold value; and
and if the running speed of the vehicle is greater than or equal to the speed threshold, counting lane changing times of the lane line crossing the scene in a set time period.
6. A continuous lane change driving behavior monitoring control system, characterized in that the continuous lane change behavior monitoring system comprises:
the lane change detection unit is used for acquiring a road image in front of a vehicle and detecting whether a lane line crossing scene exists according to the road image;
the lane change times counting unit is used for counting the lane change times of the lane line crossing scene in a set time period when the lane line crossing scene exists;
a continuous lane change determination unit configured to determine whether there is a continuous lane change driving behavior of the vehicle based on the number of lane changes within the set period of time.
7. The continuous lane change driving behavior monitoring control system according to claim 6, wherein the lane change detecting unit includes:
the lane line detection module is used for detecting whether a lane line exists in the road image;
and the image continuous detection module is used for determining that the lane line crossing scene exists when the lane line is detected in the road image and the detected lane line disappears in a later road image.
8. The continuous lane change driving behavior monitoring control system according to claim 6, wherein the set time period is a counting period of a timer, wherein the continuous lane change determining unit is further configured to determine that the continuous lane change driving behavior exists in the vehicle when a lane change number in a first counting period is greater than or equal to a preset number threshold, and determine that the continuous lane change driving behavior does not exist in the vehicle in the first counting period when the lane change number in the first counting period is less than the number threshold, and clear the lane change number in a second counting period after the first counting period, and recalculate the lane change number for the second counting period.
9. The continuous lane-change driving behavior monitoring control system according to claim 6, further comprising:
a warning signal generation unit for generating a warning trigger signal when it is determined that there is a continuous lane change driving behavior of the vehicle; and
and the alarm unit is used for triggering and executing acousto-optic warning of instrument lane changing and/or flashing warning of a steering lamp according to the alarm trigger signal.
10. The continuous lane change driving behavior monitoring and control system according to claim 6, wherein the lane change number counting unit is further configured to detect whether a vehicle driving speed is greater than a preset speed threshold when a lane crossing scene exists, and count the number of lane changes occurring in the lane crossing scene within a set time period if the vehicle driving speed is greater than or equal to the speed threshold.
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| CN113569666A (en) * | 2021-07-09 | 2021-10-29 | 东风汽车集团股份有限公司 | Method for detecting continuous illegal lane change of vehicle and computer equipment |
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| CN112949465A (en) * | 2021-02-26 | 2021-06-11 | 上海商汤智能科技有限公司 | Vehicle continuous lane change recognition method, device, equipment and storage medium |
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| CN113569666B (en) * | 2021-07-09 | 2023-12-15 | 东风汽车集团股份有限公司 | Method for detecting continuous illegal lane change of vehicle and computer equipment |
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