CN114348014A - Lane departure early warning method, device, vehicle and medium - Google Patents

Lane departure early warning method, device, vehicle and medium Download PDF

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Publication number
CN114348014A
CN114348014A CN202210106158.1A CN202210106158A CN114348014A CN 114348014 A CN114348014 A CN 114348014A CN 202210106158 A CN202210106158 A CN 202210106158A CN 114348014 A CN114348014 A CN 114348014A
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China
Prior art keywords
lane
vehicle
early warning
departure
lane departure
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CN202210106158.1A
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Chinese (zh)
Inventor
王杨
王祎帆
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FAW Group Corp
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FAW Group Corp
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Priority to CN202210106158.1A priority Critical patent/CN114348014A/en
Publication of CN114348014A publication Critical patent/CN114348014A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • 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
    • B60W2050/146—Display means

Abstract

The invention discloses a lane departure early warning method, a lane departure early warning device, a vehicle and a medium. Acquiring lane information and vehicle state information of vehicle driving; determining lane departure early warning conditions according to the lane information; determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information; and if so, sending out lane departure early warning. By the aid of the lane departure early warning method and the lane departure early warning system, the lane departure early warning condition is selected according to the lane information of the vehicle, the driver is early warned when the vehicle meets the lane departure early warning condition, and the accuracy of the lane departure early warning is improved.

Description

Lane departure early warning method, device, vehicle and medium
Technical Field
The embodiment of the invention relates to the field of automatic driving vehicles, in particular to a lane departure early warning method, a lane departure early warning device, a vehicle and a medium.
Background
With the development of intelligent driving technology, lane departure early warning of an autonomous vehicle is a problem that needs to be mainly solved for autonomous driving. The lane departure early warning system is an alarm function in the field of advanced driving assistance systems, and is used for giving an alarm to a driver when a vehicle deviates from a lane unconsciously so as to reduce the occurrence of traffic accidents such as vehicle collision.
Disclosure of Invention
The embodiment of the invention provides a lane departure early warning method, a lane departure early warning device, a vehicle and a medium, which are used for early warning in time when the vehicle deviates from a lane, so that the driving safety of the vehicle is improved.
In a first aspect, an embodiment of the present invention provides a lane departure warning method, where the method includes:
acquiring lane information and vehicle state information of vehicle driving;
determining lane departure early warning conditions according to the lane information;
determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information;
and if so, sending out lane departure early warning.
In a second aspect, an embodiment of the present invention further provides a lane departure warning apparatus, including:
the information acquisition module is used for acquiring lane information and vehicle state information of vehicle running;
the early warning condition determining module is used for determining a lane departure early warning condition according to the lane information;
the early warning condition judgment module is used for determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information;
and the early warning module is used for sending out lane departure early warning if the vehicle is determined to meet the lane departure early warning condition.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
a memory for storing one or more programs;
the early warning device is used for sending out lane departure early warning when the vehicle meets the lane departure early warning condition;
when the one or more programs are executed by the one or more processors, the one or more processors implement the lane departure warning method according to any embodiment of the present invention.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the lane departure warning method according to any embodiment of the present invention.
According to the technical scheme provided by the embodiment, the lane departure early warning conditions of different lanes are determined according to the lane information, whether the vehicle meets the lane departure early warning conditions or not is judged according to the lane information and the vehicle state information of the vehicle running on the lane, and the lane departure early warning is sent out under the condition that the vehicle meets the lane departure early warning conditions. The embodiment sets different lane departure early warning conditions for different lane information, thereby solving the problem that the same lane departure early warning condition is adopted to early warn the driver, the wrong early warning caused by the misjudgment can be generated, the misguidance is generated for the driver, the accuracy of the lane departure early warning is improved, and the safety of the driver is ensured.
Drawings
Fig. 1 is a flowchart of a lane departure warning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a lane departure warning method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lane departure warning device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a lane departure warning method according to an embodiment of the present invention, which is applicable to a situation where a lane departure warning system timely and accurately warns a driver of a lane departure when a vehicle generates a lane departure. The method can be executed by the device provided by the embodiment of the invention, and the device can be realized by software and/or hardware. The device may be configured in a vehicle, and further, the device may be configured in a controller of the vehicle. With reference to fig. 1, the method specifically includes:
and S110, acquiring lane information and vehicle state information of the vehicle.
The lane information may include a lane type of a lane occupied by the vehicle and a lane line type on the lane, where the lane type includes, but is not limited to, a straight lane and a curve lane, and the lane line type includes, but is not limited to, a single solid line, a single dotted line, a solid-dotted lane line, a double solid line, a double dotted line, and the like. The vehicle state information may include, but is not limited to, the position of the vehicle, the vehicle speed, the heading angle, the acceleration, and the like.
Specifically, a camera mounted on the vehicle can be used for collecting lane images, and an image recognition algorithm is adopted to recognize lane types and lane line types, namely lane information. Wherein, the camera of installation on the vehicle can be monocular camera or binocular camera. Furthermore, the lane point cloud can be collected through a laser radar installed on the vehicle, and lane information can be determined based on the lane point cloud and the like.
Alternatively, the position information and the heading angle of the vehicle may be obtained by a positioning system on the vehicle, and the speed and the acceleration of the vehicle may be obtained by a speed measurement system mounted on the vehicle.
And S120, determining lane departure early warning conditions according to the lane information.
In addition, in the course of traveling on a lane, a vehicle may deviate from the lane due to fatigue driving, dozing, inattention, or the like, and a phenomenon of violating a road traveling rule or compromising vehicle safety may occur, so that it is urgently necessary to perform a lane departure warning.
For example, the lane departure warning condition may be a preset maximum distance value condition between the vehicle and the lane line; may be a preset maximum speed condition of the vehicle approaching the lane line; the time condition required by the rolling line of the vehicle can be preset; the vehicle may be a preset maximum heading angle condition of the vehicle, and the like.
Optionally, the lane information is different, and the corresponding lane departure warning conditions are different. In this embodiment, the lane departure warning condition may be determined according to the acquired lane information based on a preset association relationship between the lane information and the lane departure warning condition.
In an implementation mode, if the lane where the vehicle is located is identified as a straight lane according to the lane information, a lane line of the straight lane is identified; and determining lane departure early warning conditions according to the lane lines.
The lane lines of the straight lane may include, but are not limited to, a single solid line, a single dotted line, a solid-dotted lane line, a double solid line, a double dotted line, and the like.
Specifically, when the lane where the vehicle is located is identified as a straight lane according to the lane information and the lane line is a single solid line, the vehicle cannot turn or roll the line when driving in the lane, and the lane departure warning condition may be that the vehicle is identified to turn or roll the line on the lane.
When the lane where the vehicle is located is identified as a straight lane according to the lane information and the lane line is a single dotted line, the vehicle can turn and cross the lane when running in the lane, but long-time lane rolling running is not allowed, and the lane departure early warning condition can be that the vehicle line rolling time is identified to exceed the preset line rolling time.
When the lane where the vehicle is located is identified to be a straight lane according to the lane information, and the lane line is a real-virtual lane line, when the vehicle runs on the lane, if the vehicle runs on one side of the virtual lane, the vehicle can run across the line or turn, but long-time rolling running is not allowed, and the lane departure early warning condition can be that the rolling time of the vehicle is identified to exceed the preset rolling time; if the vehicle runs on one side of the solid lane, the vehicle cannot run across the lane or turn, and the lane departure early warning condition can be that the vehicle is recognized to turn or roll the lane on the lane.
When the lane where the vehicle is located is identified to be a straight lane according to the lane information and the lane line is a double-solid line, the vehicle cannot turn or roll any one of the double-solid line when driving on the lane, and the lane departure early warning condition can be that the vehicle is identified to turn or roll the line on the lane.
When the lane line is a straight lane and the lane line is a double-dotted line, the vehicle can turn and cross the lane when running on the lane, but long-time lane rolling running is not allowed, and the lane departure early warning condition can be that the vehicle lane rolling time is recognized to exceed the preset lane rolling time.
It can be understood that, in this embodiment, when the lane where the vehicle is located is identified as the straight lane according to the lane information, the lane departure warning condition is flexibly configured in combination with the lane line of the straight lane, so that the warning scene is enriched, the accuracy of the lane departure warning is improved, and the driving safety is greatly improved.
In another possible implementation, if the lane in which the vehicle is located is identified as a curve lane according to the lane information, determining a turning radius of the road; and determining lane departure early warning conditions according to the lane information and the road turning radius.
The lane information includes lane line information of a curve lane, and the lane line information of the curve lane refers to lane line types of the curve lane, including a single solid line, a single dotted line, a solid-virtual lane line, a double solid line and a double dotted line. The road turning radius refers to the distance from the center of a road turn to the outer edge of the turning road.
Specifically, when the lane where the vehicle is located is identified as a curve lane according to the lane information and the lane line is a single solid line, the vehicle cannot turn or roll the line when driving in the lane, and the lane departure warning condition may be that the vehicle is identified to turn or roll the line on the lane.
When the lane where the vehicle is located is identified as the curve lane according to the lane information and the lane line is the single dotted line, the vehicle can turn and cross the lane when running in the lane, but long-time lane rolling running is not allowed, and the turning radius of the vehicle turning cannot be larger than the turning radius of the road, and the lane departure early warning condition can be that the vehicle rolling time is identified to exceed the preset rolling time or the turning radius of the vehicle turning is larger than the turning radius of the road.
When the lane where the vehicle is located is identified as a curve lane according to the lane information and the lane line is a real-virtual lane line, when the vehicle runs on the lane, if the vehicle runs on one side of a dotted line lane, the vehicle can run across the line or turn, but long-time lane rolling is not allowed, the turning radius of the vehicle turning cannot be larger than the turning radius of the road, and the lane departure early warning condition can be that the vehicle lane rolling time is identified to exceed the preset rolling time or the turning radius of the vehicle turning is larger than the turning radius of the road; if the vehicle runs on one side of the solid lane, the vehicle cannot run across the lane or turn, and the lane departure early warning condition can be that the vehicle is recognized to turn or roll the lane on the lane.
When the lane where the vehicle is located is identified as the curve lane according to the lane information and the lane line is the double-solid line, the vehicle cannot turn or roll any one of the double-solid line when driving on the lane, and the lane departure early warning condition can be that the vehicle is identified to turn or roll the line on the lane.
When the lane where the vehicle is located is identified as the curve lane according to the lane information and the lane line is the double-dotted line, the vehicle can turn and cross the lane when running on the lane, but cannot roll the lane for a long time, and the turning radius of the vehicle turning cannot be larger than the turning radius of the road, and the lane departure early warning condition can be that the vehicle rolling time is identified to exceed the preset rolling time or the turning radius of the vehicle turning is larger than the turning radius of the road.
And S130, determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information.
Specifically, whether the vehicle meets the vehicle departure warning condition or not can be calculated through a machine learning algorithm according to the received lane information and the vehicle state information.
In one possible embodiment, the step may determine whether the vehicle satisfies the lane departure warning condition by combining the distance value between the vehicle and the lane line. Specifically, the method can be realized by the following substeps:
s1101, determining a distance value between the vehicle and the lane line.
Specifically, when the vehicle runs on a lane with a lane line, image information of the lane can be obtained through a camera mounted on the vehicle, and then the lane line is identified according to the image information, so that a distance value between the vehicle and the lane line is determined.
And S1102, determining whether the vehicle meets lane departure early warning conditions or not according to the lane information, the vehicle state information and the distance value.
Specifically, a heading angle threshold value, a first distance threshold value and a second distance threshold value are preset, wherein the second distance threshold value is smaller than the first distance threshold value. And then, comparing the course angle of the vehicle with a course angle threshold value, comparing the distance value between the vehicle and the lane line with a first distance threshold value and/or a second distance threshold value and the like in the vehicle state information, and determining whether the vehicle meets the lane departure early warning condition according to the comparison result.
For example, when the lane information includes any lane type and the lane line is a single solid line, if the heading angle of the vehicle is greater than the heading angle threshold, or the heading angle of the vehicle is less than the heading angle threshold and the distance value between the vehicle and the lane line is less than the first distance threshold, it is determined that the vehicle satisfies the lane departure warning condition.
When the lane information includes any lane type and the lane line is a single dotted line, the lane line is allowed to be rolled by the vehicle when the lane line is a single dotted line or a double dotted line, but the rolled line driving may pose a threat to the safety of the driver, and thus the rolled line driving of the vehicle should be avoided as much as possible. And at the moment, if the distance value between the vehicle and the lane line is smaller than the second distance threshold value, determining that the vehicle meets the lane departure early warning condition.
When the lane information comprises any lane type and the lane line is a real-virtual lane line, if the vehicle runs on one side of the dotted lane, determining that the vehicle meets the lane departure early warning condition when the distance value between the vehicle and the lane line is smaller than a second distance threshold value; and if the vehicle runs on one side of the solid lane, determining that the vehicle meets the lane departure early warning condition when the distance value between the vehicle and the lane line is smaller than the first distance threshold value.
When the lane information comprises any lane type and the lane line is a double-solid line, if the course angle of the vehicle is larger than the course angle threshold value, or the course angle of the vehicle is smaller than the course angle threshold value and the distance value between the vehicle and the lane line is smaller than the first distance threshold value, the vehicle is determined to meet the lane departure early warning condition.
And when the lane information comprises any lane type and the lane line is a double-dashed line, if the distance value between the vehicle and the lane line is smaller than a second distance threshold value, determining that the vehicle meets the lane departure early warning condition.
Further, when the lane type in the lane information is a curve lane and the lane line is a single dotted line, it may be determined that the vehicle satisfies the lane departure warning condition if the turning radius of the vehicle is greater than the turning radius of the road.
When the lane type in the lane information is a curve lane and the lane line is a real-virtual lane line, it may be determined that the vehicle satisfies the lane departure warning condition if the vehicle is driven on one side of the virtual lane and the turning radius of the vehicle is greater than the turning radius of the road.
When the lane type in the lane information is a curve lane and the lane line is a double-dashed line, it may be determined that the vehicle satisfies the lane departure warning condition if the turning radius of the vehicle is greater than the turning radius of the road.
And S140, if so, giving out lane departure early warning.
Specifically, if it is determined that the vehicle satisfies the lane departure warning condition, a lane departure warning may be issued to the driver through the lane departure warning system. Optionally, the lane departure warning system may include, but is not limited to, a vibration system, a voice control system, and a light control system. The vibration system can send lane departure early warning to the driver in a vibration mode, the sound control system can send prompt tones to send lane departure early warning to the driver, and the light control system can send the lane departure early warning to the driver through characters on the display screen.
Optionally, the driver of the automatic transmission vehicle only needs to use the right foot to perform vehicle operation behaviors such as accelerator acceleration or brake of the brake pedal, and the left foot is completely in an idle state, so that a vibration system can be placed in the left foot area of the driver. When the vehicle is determined to meet the lane departure early warning condition, the vibration system CAN be informed to send out a lane departure early warning through a hard wire or a CAN wire, and CAN send out vibration as a lane departure early warning signal after receiving the notification; when the left foot of the driver is placed in the area where the vibration system is located, the driver can feel the vibration sent by the vibration system, and therefore lane departure early warning is received.
Furthermore, the lane departure early warning notification can be sent to the light control system and the sound control system while the lane departure early warning notification is sent to the vibration system, so that the light control system can control a display indicator lamp on a vehicle-mounted display to flash, mark lane departure early warning characters or lane departure early warning symbols on the vehicle-mounted display and send lane departure early warning to a driver; the colleague voice control system can send out lane departure warning prompt tones through the vehicle-mounted loudspeaker box to send out lane departure warning to the driver. And after receiving the lane departure early warning sent by the lane departure early warning system, the driver timely controls the vehicle to return to the normal running track.
According to the technical scheme provided by the embodiment, the lane departure early warning conditions of different lanes are determined according to the lane information, whether the vehicle meets the lane departure early warning conditions or not is judged according to the lane information and the vehicle state information of the vehicle running on the lane, and the lane departure early warning is sent out under the condition that the vehicle meets the lane departure early warning conditions. The embodiment sets different lane departure early warning conditions for different lane information, thereby solving the problem that the same lane departure early warning condition is adopted to early warn the driver, the wrong early warning caused by the misjudgment can be generated, the misguidance is generated for the driver, the accuracy of the lane departure early warning is improved, and the safety of the driver is ensured.
Example two
Fig. 2 is a flowchart of a lane departure warning method according to a second embodiment of the present invention, which is optimized based on the above embodiments and provides a preferred embodiment for determining whether a vehicle satisfies a lane departure warning condition according to a vehicle departure time required for the vehicle to completely depart from a driving lane. Specifically, as shown in fig. 2, the lane departure warning method provided in this embodiment may include:
and S210, acquiring lane information and vehicle state information of vehicle running.
And S220, determining a lane departure early warning condition according to the lane information.
And S230, determining the vehicle departure time required by the complete lane departure according to the lane information and the vehicle state information.
The complete lane departure refers to the vehicle rolling line behavior, or the vehicle turning on a lane which cannot be turned, and the like. The vehicle departure time refers to the time required for the vehicle to travel after completely departing from the lane at the current time.
Specifically, when it is recognized through the lane information that there is a lane line on the lane on which the vehicle is traveling, the distance value between the vehicle and the lane line may be obtained through a camera mounted on the vehicle. And calculating the vehicle departure time required by the complete lane departure according to the position information, the course angle, the vehicle speed and the acceleration of the vehicle. Optionally, the calculation mode may be that a calculation formula is preset, the distance value between the vehicle and the lane line, the position information of the vehicle, the heading angle, the vehicle speed and the acceleration are used as formula input parameters, and the vehicle deviation time is used as a result calculated and output by the formula. The calculation mode can also be that the distance value between the vehicle and the lane line, the position information of the vehicle, the course angle, the vehicle speed and the acceleration are used as algorithm parameters through a machine learning algorithm, and the vehicle deviation time is used as algorithm output.
And S240, determining whether the vehicle meets lane departure early warning conditions or not according to the vehicle departure time.
Preferably, this step may be performed by determining a vehicle departure time threshold; and determining whether the vehicle meets the lane departure early warning condition or not according to the vehicle departure time and the vehicle departure time threshold.
Specifically, a vehicle deviation time threshold is preset, after the vehicle deviation time is obtained, the vehicle deviation time is compared with the vehicle deviation time threshold, when the vehicle deviation time is larger than or equal to the vehicle deviation time threshold, the vehicle does not meet lane deviation early warning conditions, and when the vehicle deviation time is smaller than the vehicle deviation time threshold, the vehicle meets the lane deviation early warning conditions.
And S250, if so, giving out lane departure early warning.
Preferably, the step may send different lane departure warnings to the driver when the vehicle is at different departure degrees according to the departure degree of the vehicle on the lane. Specifically, the method can be realized by the following substeps:
s2501, determining an early warning mode according to the deviation degree.
The early warning mode comprises at least one of vibration, sound control and light control. The degree of deviation is a deviation state of the vehicle, and may be a vehicle deviation time or a distance value between the vehicle and the lane line. The smaller the deviation time of the vehicle is, the larger the deviation degree is, and the larger the deviation time of the vehicle is, the smaller the deviation degree is; the smaller the distance value between the vehicle and the lane line, the greater the degree of deviation, and the greater the distance value between the vehicle and the lane line, the smaller the degree of deviation.
Specifically, different deviation degrees can be preset, and lane deviation early warning modes can be selected from vibration, sound control and light control according to the different deviation degrees. The deviation degree of the vehicle can be divided into slight deviation, moderate deviation and high deviation, and when the deviation degree of the vehicle is slight deviation, lane deviation early warning can be sent to a driver only by using vibration as an early warning mode; when the deviation degree of the vehicle is moderate deviation, lane deviation early warning can be sent to a driver by using vibration and sound control as early warning modes; when the deviation degree of the vehicle is high deviation, lane deviation early warning can be sent to a driver by using vibration, sound control and light control as early warning modes.
For example, the deviation degree may be determined according to the deviation time of the vehicle, and if the vehicle deviation time threshold is 0.8 seconds, when the deviation time of the vehicle is greater than 0.8 seconds, the deviation event of the vehicle is greater than the vehicle deviation time threshold, and the lane deviation early warning system does not issue the lane deviation early warning; when the deviation time of the vehicle is more than 0.6 second and less than or equal to 0.8 second, the deviation degree of the vehicle is slight deviation, and the lane deviation early warning system sends out vibration through the vibration system to serve as an early warning mode; when the deviation time of the vehicle is more than 0.4 second and less than or equal to 0.6 second, the deviation degree of the vehicle is moderate deviation, the lane deviation early warning system emits vibration through the vibration system, the display indicator lamp on the vehicle-mounted display is controlled to flicker through the light control system, and lane deviation early warning characters or lane deviation early warning symbols are marked on the vehicle-mounted display to serve as an early warning mode; when the deviation time of the vehicle is less than or equal to 0.4 second, the deviation degree of the vehicle is high deviation, the lane deviation early warning system sends out lane deviation early warning together through the vibration system, the light control system and the sound control system, wherein the vibration system sends out vibration, the light control system controls the display indicator lamp on the vehicle-mounted display to flash, lane deviation early warning characters or lane deviation early warning symbols are marked on the vehicle-mounted display, and the sound control system can send out lane deviation warning prompt sound through the vehicle-mounted sound box to send out lane deviation early warning to a driver.
S2502, sending out lane departure early warning based on the early warning mode.
Optionally, after the vehicle is judged to meet the lane departure early warning condition by comparing the vehicle departure time with the vehicle departure time threshold, the departure degree of the vehicle can be further judged according to the vehicle departure time, and the early warning mode corresponding to the vehicle departure degree is selected according to the departure degree of the vehicle, so as to send out the lane departure early warning to the driver. And after receiving the lane departure early warning, the driver adjusts the driving direction of the vehicle according to the early warning mode.
It can be understood that, this embodiment selects suitable early warning mode according to the degree of departure of vehicle, can make the driver directly judge the degree of departure of vehicle according to the early warning mode to change the orbit of vehicle according to the degree of departure of vehicle, provide nimble lane departure early warning suggestion for the driver, make things convenient for the driver to carry out the adjustment of different degrees to the orbit of vehicle according to actual conditions.
According to the technical scheme provided by the embodiment, the vehicle departure time required for the vehicle to completely depart from the lane is calculated according to the distance value between the vehicle and the lane and the vehicle state information, whether the vehicle meets the lane departure early warning condition or not is determined according to the vehicle departure time, and the lane departure early warning is sent out under the condition that the vehicle meets the lane departure early warning condition is determined. The scheme solves the problems that when the vehicle is at a traffic light, the vehicle speed is 0 although the lane line exists on the lane where the vehicle is located, whether the vehicle meets the lane departure early warning condition is judged only according to the distance value between the vehicle and the lane line, the lane departure early warning system of the vehicle can possibly send out the lane departure early warning prompt when the vehicle is at the traffic light, the driver is interfered, and the resource waste is caused. The lane departure warning method and the lane departure warning system realize the purpose of judging whether the vehicle meets the lane departure warning condition or not according to the vehicle departure time, and prevent the vehicle from carrying out wrong lane departure warning due to the fact that the vehicle is close to a lane line when waiting for a traffic light or other waiting conditions.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a lane departure warning device according to a third embodiment of the present invention, which is applicable to a situation where a lane departure warning system timely and accurately warns a driver of a lane departure when a vehicle generates a lane departure, and as shown in fig. 3, the lane departure warning device includes: an information acquisition module 310, an early warning condition determination module 320, an early warning condition judgment module 330, and an early warning module 340.
The information acquiring module 310 is configured to acquire lane information and vehicle state information of the vehicle;
the early warning condition determining module 320 is configured to determine a lane departure early warning condition according to the lane information;
the early warning condition judgment module 330 is configured to determine whether the vehicle meets a lane departure early warning condition according to the lane information and the vehicle state information;
the early warning module 340 is configured to send out a lane departure early warning if it is determined that the vehicle meets the lane departure early warning condition.
According to the technical scheme provided by the embodiment, the lane departure early warning conditions of different lanes are determined according to the lane information, whether the vehicle meets the lane departure early warning conditions or not is judged according to the lane information and the vehicle state information of the vehicle running on the lane, and the lane departure early warning is sent out under the condition that the vehicle meets the lane departure early warning conditions. The embodiment sets different lane departure early warning conditions for different lane information, thereby solving the problem that the same lane departure early warning condition is adopted to early warn the driver, the wrong early warning caused by the misjudgment can be generated, the misguidance is generated for the driver, the accuracy of the lane departure early warning is improved, and the safety of the driver is ensured.
The early warning condition determining module 330 further includes:
a distance value determination unit for determining a distance value between the vehicle and the lane line; and determining whether the vehicle meets the lane departure early warning condition or not according to the lane information, the vehicle state information and the distance value.
The early warning condition determining module 330 further includes:
a vehicle departure time determination unit for determining a vehicle departure time required for a complete departure of a lane, based on the lane information and the vehicle state information; and determining whether the vehicle meets the lane departure early warning condition or not according to the vehicle departure time.
Further, the vehicle departure time determination unit is specifically configured to:
determining a vehicle departure time threshold; and determining whether the vehicle meets the lane departure early warning condition or not according to the vehicle departure time and the vehicle departure time threshold.
Illustratively, the early warning module 340 is specifically configured to:
determining an early warning mode according to the deviation degree; the early warning mode comprises at least one of vibration, sound control and light control;
and sending out lane departure early warning based on the early warning mode.
Illustratively, the early warning condition determining module 320 is specifically configured to:
if the lane where the vehicle is located is identified as a curve lane according to the lane information, determining the turning radius of the road;
and determining lane departure early warning conditions according to the lane information and the road turning radius.
Illustratively, the early warning condition determining module 320 is further specifically configured to:
if the lane where the vehicle is located is identified as the straight lane according to the lane information, identifying a lane line of the straight lane;
and determining lane departure early warning conditions according to the lane lines.
The lane departure warning device provided by the embodiment can be applied to the lane departure warning method provided by any embodiment, and has corresponding functions and beneficial effects.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 4, the vehicle includes a processor 410, a memory 420, and an early warning unit 430; the number of processors 410 in the vehicle may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, memory 420 and early warning unit 430 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The memory 420, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the information acquisition module 310, the warning condition determination module 320, the warning condition judgment module 330, and the warning module 340) corresponding to the lane departure warning method in the embodiment of the present invention. The processor 410 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory 420, that is, implements the lane departure warning method described above.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The early warning device 430 may be used to issue a lane departure early warning when the vehicle satisfies a lane departure early warning condition.
The vehicle provided by the embodiment can be suitable for the lane departure early warning method provided by any embodiment, and has corresponding functions and beneficial effects.
EXAMPLE five
Fifth, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a lane departure warning method, including:
acquiring lane information and vehicle state information of vehicle driving; determining lane departure early warning conditions according to the lane information; determining whether the vehicle meets lane departure early warning conditions or not according to the lane information and the vehicle state information; and if so, sending out lane departure early warning.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the lane departure warning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the lane departure warning method, each included unit and module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A lane departure warning method, comprising:
acquiring lane information and vehicle state information of vehicle driving;
determining lane departure early warning conditions according to the lane information;
determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information;
and if so, sending out lane departure early warning.
2. The method of claim 1, wherein determining whether a vehicle satisfies the lane departure warning condition based on the lane information and the vehicle state information comprises:
determining a distance value between the vehicle and the lane line;
and determining whether the vehicle meets the lane departure early warning condition or not according to the lane information, the vehicle state information and the distance value.
3. The method of claim 1, wherein determining whether a vehicle satisfies the lane departure warning condition based on the lane information and the vehicle state information comprises:
determining vehicle departure time required for complete departure of a lane according to lane information and the vehicle state information;
and determining whether the vehicle meets the lane departure early warning condition or not according to the vehicle departure time.
4. The method of claim 3, wherein determining whether a vehicle satisfies the lane departure warning condition according to the vehicle departure time comprises:
determining a vehicle departure time threshold;
and determining whether the vehicle meets the lane departure early warning condition or not according to the vehicle departure time and the vehicle departure time threshold.
5. The method of claim 1, wherein issuing a lane departure warning comprises:
determining an early warning mode according to the deviation degree; the early warning mode comprises at least one of vibration, sound control and light control;
and sending out lane departure early warning based on the early warning mode.
6. The method of claim 1, wherein determining a lane departure warning condition based on the lane information comprises:
if the lane where the vehicle is located is identified as a curve lane according to the lane information, determining the turning radius of the road;
and determining lane departure early warning conditions according to the lane information and the road turning radius.
7. The method of claim 1, wherein determining a lane departure warning condition based on the lane information comprises:
if the lane where the vehicle is located is identified as a straight lane according to the lane information, identifying a lane line of the straight lane;
and determining lane departure early warning conditions according to the lane lines.
8. A lane departure warning apparatus, comprising:
the information acquisition module is used for acquiring lane information and vehicle state information of vehicle running;
the early warning condition determining module is used for determining a lane departure early warning condition according to the lane information;
the early warning condition judgment module is used for determining whether the vehicle meets the lane departure early warning condition or not according to the lane information and the vehicle state information;
and the early warning module is used for sending out lane departure early warning if the vehicle is determined to meet the lane departure early warning condition.
9. A vehicle, characterized in that the vehicle comprises:
one or more processors;
a memory for storing one or more programs;
the early warning device is used for sending out lane departure early warning when the vehicle meets the lane departure early warning condition;
when executed by the one or more processors, cause the one or more processors to implement the lane departure warning method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a lane departure warning method according to any one of claims 1 to 7.
CN202210106158.1A 2022-01-28 2022-01-28 Lane departure early warning method, device, vehicle and medium Pending CN114348014A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116080676A (en) * 2023-01-30 2023-05-09 北京京深深向科技有限公司 Lane departure early warning method and device, electronic equipment and storage medium
CN116080676B (en) * 2023-01-30 2024-04-26 北京京深深向科技有限公司 Lane departure early warning method and device, electronic equipment and storage medium

Citations (1)

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Publication number Priority date Publication date Assignee Title
CN110667574A (en) * 2019-09-25 2020-01-10 东南大学 Multi-scenario lane departure early warning system and method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110667574A (en) * 2019-09-25 2020-01-10 东南大学 Multi-scenario lane departure early warning system and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116080676A (en) * 2023-01-30 2023-05-09 北京京深深向科技有限公司 Lane departure early warning method and device, electronic equipment and storage medium
CN116080676B (en) * 2023-01-30 2024-04-26 北京京深深向科技有限公司 Lane departure early warning method and device, electronic equipment and storage medium

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