CN112977446A - Lane keeping system based on OpenMV - Google Patents

Lane keeping system based on OpenMV Download PDF

Info

Publication number
CN112977446A
CN112977446A CN202110324202.1A CN202110324202A CN112977446A CN 112977446 A CN112977446 A CN 112977446A CN 202110324202 A CN202110324202 A CN 202110324202A CN 112977446 A CN112977446 A CN 112977446A
Authority
CN
China
Prior art keywords
vehicle
unit
information
information acquisition
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110324202.1A
Other languages
Chinese (zh)
Inventor
孟亚男
周雪阳
赵夕东
赵宇翔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jilin Institute of Chemical Technology
Original Assignee
Jilin Institute of Chemical Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jilin Institute of Chemical Technology filed Critical Jilin Institute of Chemical Technology
Priority to CN202110324202.1A priority Critical patent/CN112977446A/en
Publication of CN112977446A publication Critical patent/CN112977446A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an OpenMV-based lane keeping system, which comprises an information acquisition module, an information processing module, an execution module and a feedback module, wherein the information acquisition module is used for acquiring information of a lane to be kept; the vehicle running information collected by the information collection module comprises: vehicle travel information and vehicle environment information; the vehicle environment information collected by the information collection module is visibility information of the external environment of the vehicle. The lane keeping system can collect not only vehicle running information but also vehicle environment information during vehicle running through the information collection module, and provides basic data for lane keeping by making a corresponding execution command on observation of environmental visibility and combining the environment information.

Description

Lane keeping system based on OpenMV
Technical Field
The invention relates to the technical field of machine vision, in particular to a lane keeping system based on OpenMV.
Background
OpenMV is an open-source, low-cost and powerful machine vision module, an STM32F427CPU is used as a core of the machine vision module, an OV7725 camera chip is integrated on a small hardware module, a core machine vision algorithm is efficiently realized by using C language, and a Python programming interface is provided at the same time.
Machine vision algorithms on OpenMV include finding color blocks, face detection, eye tracking, edge detection, logo tracking, etc. The method can be used for realizing illegal intrusion detection, defective product screening, fixed marker tracking and the like. A user can easily complete various machine vision related tasks by only writing some simple Python codes, and the method is widely applied to production and life.
The lane keeping auxiliary system is short for lane keeping and can control the brake control and coordination device on the basis of the lane departure early warning system. The support is provided for keeping the vehicle on the lane by means of a camera recognizing the marking line of the driving lane when the vehicle is driving. If the vehicle approaches the identified marking line and possibly departs from the driving lane, the driver is prompted to pay attention through the vibration of the steering wheel or the sound, the driving direction is corrected by slightly rotating the steering wheel, the vehicle is positioned on the correct lane, and if the steering wheel detects that no active intervention is performed for a long time, an alarm is given out to remind the driver.
In the prior art, lane keeping generally determines the position of a current vehicle in a mode of depending on a computer vision system, an inertial navigation system and a position relation with an adjacent vehicle, so that the vehicle is automatically controlled to be kept in the current lane; however, in the prior art, when lane keeping is performed by the above technical means, the use accuracy is poor particularly in an environment with poor sight (for example, rainy, foggy, snowy, night, etc.), and the lane keeping is seriously affected.
Therefore, based on the above technical problems, there is a need for developing an OpenMV-based lane keeping system that can meet the requirement of accurately keeping a lane even in a poor sight environment.
Disclosure of Invention
The invention aims to provide an OpenMV-based lane keeping system which can meet the use in an environment with poor sight line and can ensure higher detection precision, safety and reliability.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention relates to an OpenMV-based lane keeping system, which comprises:
the information acquisition module is used for acquiring vehicle information and acquiring vehicle data;
the information processing module is connected with the information acquisition module and receives the vehicle data transmitted by the information acquisition module, and the information processing module forms an execution command according to a preset rule;
the execution module is connected with the information processing module and used for receiving the execution command transmitted by the information processing module and executing corresponding vehicle adjustment actions according to the execution command; and
the feedback module is used for detecting the working state of the execution module and feeding back a detection signal to the information acquisition module;
the vehicle running information collected by the information collection module comprises:
vehicle travel information and vehicle environment information;
the vehicle environment information collected by the information collection module is visibility information of the external environment of the vehicle.
Further, the information acquisition module comprises:
the system comprises an image information acquisition unit, a display unit and a control unit, wherein the image information acquisition unit is used for acquiring marking line information of a vehicle running lane in vehicle running information of a vehicle running process;
the system comprises a vehicle distance information acquisition unit, a road boundary information acquisition unit and a vehicle distance information acquisition unit, wherein the vehicle distance information acquisition unit is used for acquiring distance information between other vehicles and distance information between road boundaries in vehicle driving information in the vehicle driving process; and
the system comprises a vehicle speed information acquisition unit, a vehicle speed information acquisition unit and a vehicle speed information acquisition unit, wherein the vehicle speed information acquisition unit is used for acquiring vehicle information of a vehicle in vehicle running information in the vehicle running process and vehicle speed information of other surrounding vehicles;
the information acquisition module further comprises:
the environment information acquisition unit is used for acquiring vehicle environment information.
Further, the information processing module includes:
the device comprises a wireless transmission unit, a storage unit and a data analysis unit;
the wireless transmission unit receives the vehicle running information and the vehicle environment information transmitted by the information acquisition module;
the storage unit is used for storing the vehicle running information and the vehicle environment information received by the wireless transmission unit, and the storage unit stores preset rules;
the data analysis unit is used for processing the vehicle running information and the vehicle environment information stored in the storage unit and comparing the processed data with a preset rule to form an execution command.
Further, the execution module includes:
the alarm unit is used for receiving an alarm command in the execution command sent by the information processing module and sending a sound alarm according to the alarm command to remind a driver of performing manual vehicle adjustment;
an autonomous execution unit; and
the timing unit is used for timing the alarm command executed by the alarm unit, and when the execution time of the alarm command exceeds 3s and the driver does not perform manual vehicle adjustment action, the autonomous execution unit is used for executing the vehicle adjustment action;
the autonomous execution unit includes:
the steering unit is used for controlling the steering wheel to steer to adjust the driving direction of the vehicle when the distance between the vehicle and the road boundary exceeds a preset range and the driver does not perform manual vehicle adjustment action after an alarm command is sent out for 3 s;
the speed reduction unit is used for controlling the accelerator of the vehicle to adjust the running speed of the vehicle when the vehicle is overspeed and the driver does not have manual vehicle adjustment action after an alarm command is sent out for 3 s; and
and the light unit is used for controlling the opening and closing of the car light when a driver does not perform manual car adjustment action after sending the alarm command for 3s according to the car environment information.
Further, the feedback module comprises:
the alarm detection unit is used for detecting the running state of the alarm unit;
a timing detection unit for detecting an operation state of the timing unit;
a steering detection unit for detecting an operation state of the steering unit;
a deceleration detection unit for detecting an operation state of the deceleration unit; and
and the light detection unit is used for detecting the running state of the light unit.
Further, the preset rule includes:
if the road marking information is detected, detecting the distance between the edge of the vehicle and the road marking, wherein the vehicle runs normally when the distance between the edge of the vehicle and the road marking is within the range of 20 cm-50 cm, otherwise, the alarm unit executes an alarm command;
when the running speed of the vehicle is below 20km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 10 m;
when the running speed of the vehicle is more than or equal to 20km/h and less than 40km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 30 m;
when the running speed of the vehicle is more than or equal to 40km/h and less than 60km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 50 m;
when the running speed of the vehicle is more than or equal to 60km/h and less than 80km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 80 m;
and when the running speed of the vehicle is more than or equal to 80km/h and less than 100km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 100 m.
Further, the preset rule further includes:
when the visibility is less than 500m and more than or equal to 200m, the speed per hour of the vehicle is not more than 80km/h, and the driving distance of more than 150m is kept;
when the visibility is less than 200m and more than or equal to 100m, the vehicle speed per hour is not more than 60km/h, and the running distance of more than 100m is kept;
when the visibility is less than 100m and more than or equal to 50m, the vehicle speed per hour is not more than 40km/h, and the driving distance of more than 50m is kept;
when the visibility is less than 50m, the speed per hour cannot exceed 20 km/h.
Further, the command executed by the light unit according to the preset rule includes:
when the visibility is less than 500m and more than or equal to 200m, turning on an anti-dazzling dipped headlight, a width indicator light and a tail light;
when the visibility is less than 200m and more than or equal to 100m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 100m and more than or equal to 50m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 50m, the fog light, the anti-glare dipped headlight, the width light and the tail light are turned on.
Further, a machine vision module which takes an STM32F427CPU as a core and integrates a 0V7725 camera chip is adopted for detection of the information acquisition module;
the information acquisition module adopts a vehicle speed detector for detecting the vehicle speed;
the information acquisition module adopts a visibility detector for detecting visibility.
Further, the alarm unit is a horn;
the timing unit is an electronic timer;
the steering unit is a steering gear;
the speed reduction unit is an accelerator controller.
In the above technical solution, the lane keeping system based on OpenMV provided by the present invention has the following beneficial effects:
the lane keeping system can collect not only vehicle running information but also vehicle environment information during vehicle running through the information collection module, and provides basic data for lane keeping by making a corresponding execution command on observation of environmental visibility and combining the environment information. The collected vehicle information is compared with a preset rule through the information processing module to form a subsequent execution command, so that subsequent execution and regulation are facilitated.
The system reminds the driver to do corresponding operation in a voice alarm mode, and adjusts the vehicle running in a mode of automatically executing vehicle adjusting action when the driver does not timely do corresponding action, thereby avoiding dangerous situations in the running process and being beneficial to keeping lanes.
Compared with the traditional system, the system can give out corresponding alarm or instruction according to the change of environmental factors and the driving rule of the vehicle, thereby ensuring that the vehicle is safer to drive.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a system schematic block diagram of an OpenMV-based lane keeping system according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of an information acquisition module of an OpenMV-based lane keeping system according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of an information processing module of an OpenMV-based lane keeping system according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of an execution module and a feedback module of the OpenMV-based lane keeping system according to an embodiment of the present invention.
Description of reference numerals:
1. an information acquisition module; 2. an information processing module; 3. an execution module; 4. a feedback module;
101. an image information acquisition unit; 102. a vehicle distance information acquisition unit; 103. a vehicle speed information acquisition unit; 104. an environmental information acquisition unit;
201. a wireless transmission unit; 202. a storage unit; 203. a data analysis unit;
301. an alarm unit; 302. a timing unit; 303. a steering unit; 304. a deceleration unit; 305. a light unit;
401. an alarm detection unit; 402. a timing detection unit; 403. a steering detection unit; 404. a deceleration detection unit; 405. and a light detection unit.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4;
the invention relates to an OpenMV-based lane keeping system, which comprises:
the system comprises an information acquisition module 1, a data acquisition module and a data processing module, wherein the information acquisition module 1 is used for acquiring vehicle information and acquiring vehicle data;
the information processing module 2 is connected with the information acquisition module 1, receives the vehicle data transmitted by the information acquisition module 1, and the information processing module 2 forms an execution command according to a preset rule;
the execution module 3 is connected with the information processing module 2, and the execution module 3 receives the execution command transmitted by the information processing module 2 and executes corresponding vehicle adjustment action according to the execution command; and
the feedback module 4 is used for detecting the working state of the execution module 3 and feeding back a detection signal to the information acquisition module 1;
the vehicle running information acquired by the information acquisition module 1 includes:
vehicle travel information and vehicle environment information;
the vehicle environment information acquired by the information acquisition module 1 is visibility information of the external environment of the vehicle.
Specifically, the embodiment discloses an OpenMV-based lane keeping system, where OpenMV is a machine vision module with an open source, low cost and powerful functions; information acquisition module 1 has integrateed in the system, information processing module 2, execution module 3 and feedback module 4, information acquisition module 1 through this embodiment gathers vehicle information, and be different from prior art's system, the disclosed information acquisition module 1 of this embodiment not only can gather vehicle information of traveling, can also gather vehicle environmental information, and the vehicle environmental information that information acquisition module 1 of this embodiment gathered mainly is the visibility information of vehicle driving in-process external environment, through the detection to visibility, combine predetermined rule, the basic principle that the vehicle travel needs to obey promptly, let the lane keep more accurate, let drive safer. The vehicle information collected by the information collection module 1 of the embodiment is transmitted to the information processing module 2 for processing, and compared with a preset rule, and finally the execution module 3 executes a corresponding command. In order to improve the accuracy of the system, the system of this embodiment further integrates a feedback module 4, and the feedback module 4 detects the operation condition of each functional component and feeds the operation condition back to the information acquisition module 1 to ensure the operation of the system.
Preferably, the information acquisition module 1 in this embodiment includes:
the system comprises an image information acquisition unit 101, wherein the image information acquisition unit 101 is used for acquiring marking line information of a vehicle running lane in vehicle running information of a vehicle running process;
the distance information acquisition unit 102 is used for acquiring distance information between the vehicle and other vehicles and distance information between the vehicle and a road boundary in the vehicle driving information in the vehicle driving process; and
the vehicle speed information acquisition unit 103 is used for acquiring vehicle information of a vehicle and vehicle speed information of other surrounding vehicles in the vehicle running information in the vehicle running process by the vehicle speed information acquisition unit 103;
the information acquisition module 1 further includes:
the environmental information collection unit 104, the environmental information collection unit 104 is used to collect vehicle environmental information.
The detailed description of the units mainly included in the information acquisition module 1 is provided here, and the information acquisition module mainly includes four functional units, namely an image information acquisition unit 101, a vehicle distance information acquisition unit 102, a vehicle speed information acquisition unit 103, and an environmental information acquisition unit 104. As described above, the information that can be collected by each functional unit is that, since the vehicle information collection of this embodiment combines the vehicle running information and the vehicle environment information, an environment information collection unit 104 needs to be provided, and the environment information collection unit 104 is used to collect the vehicle environment information, that is, to collect the visibility signal of the external environment in the running process of the vehicle in real time, so as to complete the corresponding execution command in combination with the visibility signal.
Wherein, the information processing module 2 comprises:
a wireless transmission unit 201, a storage unit 202, and a data analysis unit 203;
the wireless transmission unit 201 receives the vehicle running information and the vehicle environment information transmitted by the information acquisition module 1;
the storage unit 202 is used for storing the vehicle running information and the vehicle environment information received by the wireless transmission unit 201, and the storage unit 202 stores preset rules;
the data analysis unit 203 is used for processing the vehicle running information and the vehicle environment information stored in the storage unit 203, and comparing the processed data with a preset rule to form an execution command.
Preferably, the execution module 3 in this embodiment includes:
the alarm unit 301 is used for receiving an alarm command in the execution command sent by the information processing module 2, and sending a sound alarm according to the alarm command to remind a driver of performing manual vehicle adjustment;
an autonomous execution unit; and
the timing unit 302 is used for timing the alarm command executed by the alarm unit 301, and when the execution time of the alarm command exceeds 3s and the driver does not perform manual vehicle adjustment action, the autonomous execution unit is used for executing the vehicle adjustment action;
the autonomous execution unit includes:
the steering unit 303 is used for controlling the steering wheel to steer to adjust the driving direction of the vehicle when the distance between the vehicle and the road boundary exceeds a preset range and the driver does not perform manual vehicle adjustment action after an alarm command is sent out for 3 s;
the deceleration unit 304 is used for controlling the accelerator of the vehicle to adjust the running speed of the vehicle when the vehicle is overspeed and the driver does not have manual vehicle adjustment action after the alarm command is sent out for 3 s; and
and the light unit 305 is used for controlling the on and off of the vehicle lamp when the driver does not perform manual vehicle adjustment action after the alarm command is sent out for 3 seconds according to the vehicle environment information and the light unit 305.
Preferably, the feedback module 4 of the present embodiment includes:
an alarm detection unit 401, the alarm detection unit 401 being configured to detect an operating state of the alarm unit 301;
a timing detection unit 402, wherein the timing detection unit 402 is used for detecting the operation state of the timing unit 302;
a steering detection unit 403, the steering detection unit 403 being configured to detect an operation state of the steering unit 303;
a deceleration detection unit 404, the deceleration detection unit 404 being configured to detect an operation state of the deceleration unit 304; and
a light detection unit 405, the light detection unit 405 being configured to detect an operation state of the light unit 305.
The above embodiment introduces the composition of the information processing module 2, the execution module 3 and the feedback module 4, and the respective uses of each functional unit, wherein according to the alarm instruction sent by the alarm unit 301 and the running time of the alarm instruction combined with the timing unit, the system can autonomously execute corresponding operations on the premise that no corresponding action is manually performed, so as to further keep a lane, improve the safety, and be more beneficial to drivers with insufficient experience to drive vehicles.
Preferably, the preset rule of the present embodiment is based on the following criteria, but may be appropriately adjusted and changed according to the requirements of practical application and driving requirements, specifically, the preset rule includes:
if the road marking information is detected, detecting the distance between the edge of the vehicle and the road marking, wherein the vehicle runs normally when the distance between the edge of the vehicle and the road marking is within the range of 20 cm-50 cm, otherwise, the alarm unit 301 executes an alarm command;
when the running speed of the vehicle is below 20km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 10 m;
when the running speed of the vehicle is more than or equal to 20km/h and less than 40km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 30 m;
when the running speed of the vehicle is more than or equal to 40km/h and less than 60km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 50 m;
when the running speed of the vehicle is more than or equal to 60km/h and less than 80km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 80 m;
and when the running speed of the vehicle is more than or equal to 80km/h and less than 100km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 100 m.
The preset rule of this embodiment further includes:
when the visibility is less than 500m and more than or equal to 200m, the speed per hour of the vehicle is not more than 80km/h, and the driving distance of more than 150m is kept;
when the visibility is less than 200m and more than or equal to 100m, the vehicle speed per hour is not more than 60km/h, and the running distance of more than 100m is kept;
when the visibility is less than 100m and more than or equal to 50m, the vehicle speed per hour is not more than 40km/h, and the driving distance of more than 50m is kept;
when the visibility is less than 50m, the speed per hour cannot exceed 20 km/h.
Preferably, the command executed by the light unit 305 according to the preset rule in this embodiment includes:
when the visibility is less than 500m and more than or equal to 200m, turning on an anti-dazzling dipped headlight, a width indicator light and a tail light;
when the visibility is less than 200m and more than or equal to 100m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 100m and more than or equal to 50m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 50m, the fog light, the anti-glare dipped headlight, the width light and the tail light are turned on.
Preferably, in the present embodiment, the detection of the information acquisition module 1 adopts a machine vision module which takes an STM32F427CPU as a core and is integrated with a 0V7725 camera chip;
the information acquisition module 1 adopts a vehicle speed detector for detecting the vehicle speed;
the information acquisition module 1 adopts a visibility detector for detecting the visibility.
Preferably, the alarm unit 301 in this embodiment is a horn;
the timing unit 302 is an electronic timer;
the steering unit 303 is a steering gear;
the deceleration unit 304 is a throttle controller.
In the above technical solution, the lane keeping system based on OpenMV provided by the present invention has the following beneficial effects:
the lane keeping system can collect not only vehicle running information but also vehicle environment information during vehicle running through the information collection module 1, and provides basic data for lane keeping by making a corresponding execution command on observation of environmental visibility and combining the environment information. The collected vehicle information is compared with a preset rule through the information processing module to form a subsequent execution command, so that subsequent execution and regulation are facilitated.
The system reminds the driver to do corresponding operation in a voice alarm mode, and adjusts the vehicle running in a mode of automatically executing vehicle adjusting action when the driver does not timely do corresponding action, thereby avoiding dangerous situations in the running process and being beneficial to keeping lanes.
Compared with the traditional system, the system can give out corresponding alarm or instruction according to the change of environmental factors and the driving rule of the vehicle, thereby ensuring that the vehicle is safer to drive.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.

Claims (10)

1. An OpenMV-based lane keeping system, characterized in that it comprises:
the system comprises an information acquisition module (1), a data acquisition module and a data processing module, wherein the information acquisition module (1) is used for acquiring vehicle information and acquiring vehicle data;
the information processing module (2), the information processing module (2) is connected with the information acquisition module (1) and receives the vehicle data transmitted by the information acquisition module (1), and the information processing module (2) forms an execution command according to a preset rule;
the execution module (3) is connected with the information processing module (2), and the execution module (3) receives the execution command transmitted by the information processing module (2) and executes corresponding vehicle adjustment action according to the execution command; and
the feedback module (4) is used for detecting the working state of the execution module (3) and feeding back a detection signal to the information acquisition module (1);
the vehicle running information acquired by the information acquisition module (1) comprises:
vehicle travel information and vehicle environment information;
the vehicle environment information acquired by the information acquisition module (1) is visibility information of the external environment of the vehicle.
2. The OpenMV-based lane keeping system according to claim 1, wherein the information acquisition module (1) comprises:
the vehicle driving information acquisition device comprises an image information acquisition unit (101), wherein the image information acquisition unit (101) is used for acquiring marking line information of a vehicle driving lane in vehicle driving information of a vehicle driving process;
the vehicle distance information acquisition unit (102) is used for acquiring distance information between the vehicle distance information acquisition unit (102) and other vehicles and distance information between the vehicle distance information acquisition unit and a road boundary in vehicle driving information in the vehicle driving process; and
the vehicle speed information acquisition unit (103) is used for acquiring vehicle information of a vehicle in vehicle running information in the running process of the vehicle and vehicle speed information of other surrounding vehicles;
the information acquisition module (1) further comprises:
the vehicle environment information acquisition system comprises an environment information acquisition unit (104), wherein the environment information acquisition unit (104) is used for acquiring vehicle environment information.
3. The OpenMV-based lane keeping system according to claim 2, wherein the information processing module (2) comprises:
a wireless transmission unit (201), a storage unit (202) and a data analysis unit (203);
the wireless transmission unit (201) receives the vehicle running information and the vehicle environment information transmitted by the information acquisition module (1);
the storage unit (202) is used for storing the vehicle running information and the vehicle environment information received by the wireless transmission unit (201), and the storage unit (202) stores preset rules;
the data analysis unit (203) is used for processing the vehicle running information and the vehicle environment information stored in the storage unit (202), and comparing the processed data with a preset rule to form an execution command.
4. The OpenMV-based lane keeping system according to claim 3, wherein the execution module (3) comprises:
the alarm unit (301) is used for receiving an alarm command in the execution commands sent by the information processing module (2) and sending out sound alarm according to the alarm command to remind a driver of performing manual vehicle adjustment;
an autonomous execution unit; and
the timing unit (302) is used for timing the alarm command executed by the alarm unit (301), and when the execution time of the alarm command exceeds 3s and the driver does not perform manual vehicle adjustment action, the autonomous execution unit is used for executing the vehicle adjustment action;
the autonomous execution unit includes:
the steering unit (303) is used for controlling the steering wheel to steer to adjust the driving direction of the vehicle when the distance between the vehicle and the road boundary exceeds a preset range and the driver does not perform manual vehicle adjustment action after an alarm command is sent out for 3 s;
the speed reduction unit (304), the speed reduction unit (304) is used for controlling the throttle of the vehicle to adjust the running speed of the vehicle when the vehicle is overspeed and the driver has no manual vehicle adjustment action after the alarm command is sent out for 3 s; and
and the light unit (305) is used for controlling the opening and closing of the vehicle lamp when a driver does not perform manual vehicle adjustment action after the alarm command is sent out for 3s according to the vehicle environment information.
5. The OpenMV-based lane keeping system according to claim 4, wherein the feedback module (4) comprises:
an alarm detection unit (401), the alarm detection unit (401) being configured to detect an operational state of the alarm unit (301);
a timing detection unit (402), wherein the timing detection unit (402) is used for detecting the running state of the timing unit (302);
a steering detection unit (403), the steering detection unit (403) being configured to detect an operating state of the steering unit (303);
a deceleration detection unit (404), the deceleration detection unit (404) being configured to detect an operating state of the deceleration unit (304); and
a light detection unit (405), the light detection unit (405) being configured to detect an operational state of the light unit (305).
6. The OpenMV-based lane keeping system according to claim 4, wherein the preset rules comprise:
if the road marking information is detected, detecting the distance between the edge of the vehicle and the road marking, wherein the vehicle runs normally when the distance between the edge of the vehicle and the road marking is within the range of 20 cm-50 cm, otherwise, an alarm unit (301) executes an alarm command;
when the running speed of the vehicle is below 20km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 10 m;
when the running speed of the vehicle is more than or equal to 20km/h and less than 40km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 30 m;
when the running speed of the vehicle is more than or equal to 40km/h and less than 60km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 50 m;
when the running speed of the vehicle is more than or equal to 60km/h and less than 80km/h, controlling the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle to be not less than 80 m;
and when the running speed of the vehicle is more than or equal to 80km/h and less than 100km/h, controlling the distance between the vehicle and the front and rear vehicles to be not less than 100 m.
7. The OpenMV-based lane keeping system of claim 6, wherein the preset rules further comprise:
when the visibility is less than 500m and more than or equal to 200m, the speed per hour of the vehicle is not more than 80km/h, and the driving distance of more than 150m is kept;
when the visibility is less than 200m and more than or equal to 100m, the vehicle speed per hour is not more than 60km/h, and the running distance of more than 100m is kept;
when the visibility is less than 100m and more than or equal to 50m, the vehicle speed per hour is not more than 40km/h, and the driving distance of more than 50m is kept;
when the visibility is less than 50m, the speed per hour cannot exceed 20 km/h.
8. The OpenMV-based lane keeping system according to claim 7, wherein the command executed by the light unit (305) according to the preset rule comprises:
when the visibility is less than 500m and more than or equal to 200m, turning on an anti-dazzling dipped headlight, a width indicator light and a tail light;
when the visibility is less than 200m and more than or equal to 100m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 100m and more than or equal to 50m, turning on a fog light, an anti-dazzling dipped headlight, a width light and a tail light;
when the visibility is less than 50m, the fog light, the anti-glare dipped headlight, the width light and the tail light are turned on.
9. The OpenMV-based lane keeping system according to claim 4, wherein the detection of the information acquisition module (1) employs a machine vision module with STM32F427CPU as core and integrated 0V7725 camera chip;
the information acquisition module (1) adopts a vehicle speed detector for detecting the vehicle speed;
the information acquisition module (1) adopts a visibility detector for detecting visibility.
10. The OpenMV-based lane keeping system according to claim 4, wherein the alarm unit (301) is a horn;
the timing unit (302) is an electronic timer;
the steering unit (303) is a steering gear;
the speed reduction unit (304) is a throttle controller.
CN202110324202.1A 2021-03-26 2021-03-26 Lane keeping system based on OpenMV Pending CN112977446A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110324202.1A CN112977446A (en) 2021-03-26 2021-03-26 Lane keeping system based on OpenMV

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110324202.1A CN112977446A (en) 2021-03-26 2021-03-26 Lane keeping system based on OpenMV

Publications (1)

Publication Number Publication Date
CN112977446A true CN112977446A (en) 2021-06-18

Family

ID=76333726

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110324202.1A Pending CN112977446A (en) 2021-03-26 2021-03-26 Lane keeping system based on OpenMV

Country Status (1)

Country Link
CN (1) CN112977446A (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785667A (en) * 2012-08-29 2012-11-21 浙江海康集团有限公司 Binocularly-based driveway deviation and front anti-collision early-warning system and method
CN105711588A (en) * 2016-01-20 2016-06-29 奇瑞汽车股份有限公司 Lane keeping assist system and lane keeping assist method
CN106043279A (en) * 2016-07-06 2016-10-26 吉林大学 Lane shift control system based on crosswind influences and control method of lane shift control system
CN106103232A (en) * 2014-04-09 2016-11-09 日立汽车系统株式会社 Travel controlling system, on-vehicle display and drive-control system
CN107554420A (en) * 2017-09-11 2018-01-09 安徽实运信息科技有限责任公司 A kind of safe distance between vehicles warning system based on road environment
CN208225299U (en) * 2018-04-28 2018-12-11 岭南师范学院 A kind of highway low visibility area's traffic safety guides system
WO2019199429A1 (en) * 2018-04-12 2019-10-17 Trw Automotive U.S. Llc Vehicle assist system
CN112319469A (en) * 2020-11-16 2021-02-05 深圳市康士柏实业有限公司 Lane keeping auxiliary system and method based on machine vision
CN112519796A (en) * 2020-11-20 2021-03-19 安徽网思科技有限公司 Lane departure early warning system for automatic driving

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102785667A (en) * 2012-08-29 2012-11-21 浙江海康集团有限公司 Binocularly-based driveway deviation and front anti-collision early-warning system and method
CN106103232A (en) * 2014-04-09 2016-11-09 日立汽车系统株式会社 Travel controlling system, on-vehicle display and drive-control system
CN105711588A (en) * 2016-01-20 2016-06-29 奇瑞汽车股份有限公司 Lane keeping assist system and lane keeping assist method
CN106043279A (en) * 2016-07-06 2016-10-26 吉林大学 Lane shift control system based on crosswind influences and control method of lane shift control system
CN107554420A (en) * 2017-09-11 2018-01-09 安徽实运信息科技有限责任公司 A kind of safe distance between vehicles warning system based on road environment
WO2019199429A1 (en) * 2018-04-12 2019-10-17 Trw Automotive U.S. Llc Vehicle assist system
CN208225299U (en) * 2018-04-28 2018-12-11 岭南师范学院 A kind of highway low visibility area's traffic safety guides system
CN112319469A (en) * 2020-11-16 2021-02-05 深圳市康士柏实业有限公司 Lane keeping auxiliary system and method based on machine vision
CN112519796A (en) * 2020-11-20 2021-03-19 安徽网思科技有限公司 Lane departure early warning system for automatic driving

Similar Documents

Publication Publication Date Title
CN107176165B (en) Vehicle control device
US11529964B2 (en) Vehicle automated driving system
CN104386063A (en) Driving assistance system based on artificial intelligence
CN104442814B (en) Track based on deflection forecast algorithm keeps and automatic centering system and method
CN111516686B (en) Lane departure direction automatic correction system and method for vehicle
JP2017185946A (en) Vehicular automatic drive system
GB2520131A (en) Cruise control system for a vehicle
JP2018005567A (en) Vehicular control device
EP3408151B1 (en) Operator skill scoring based on comparison to automated vehicle operation
CN111376901B (en) Vehicle control method and device and vehicle
CN113748060A (en) Method for determining a safety level of a due function of a vehicle, safety system and vehicle
JP2018005468A (en) Vehicular control device
CN113859232A (en) Vehicle automatic driving potential target prediction alarm method and system
CN114435376A (en) Method for controlling running speed of vehicle on bumpy road surface, electronic equipment and storage medium
US20210370948A1 (en) Vehicle control method, vehicle control program, and vehicle control system
JP2018005830A (en) Vehicular control device
CN110895407A (en) Automatic driving vehicle operation control method integrating camera shooting and positioning and vehicle
CN112977446A (en) Lane keeping system based on OpenMV
KR20140114152A (en) Back-sideways alarming system of vehicle using navigation terminal and alarming control method of the same
JP6701913B2 (en) Vehicle control device
CN113978350A (en) Vehicle driving auxiliary control method and device, storage medium and equipment
JP2018005604A (en) Vehicular control device
JP2003260979A (en) Light distribution control device
CN108630014A (en) A kind of lane deviates early warning system and method
CN111376903B (en) Vehicle control method and device and vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20210618

RJ01 Rejection of invention patent application after publication