CN114407888A - Lane departure early warning method, device and equipment and readable storage medium - Google Patents
Lane departure early warning method, device and equipment and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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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
- 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
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- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60—VEHICLES IN GENERAL
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Abstract
The invention discloses a lane departure early warning method, a lane departure early warning device, lane departure early warning equipment and a readable storage medium, and relates to the field of intelligent driving, wherein the lane departure early warning method comprises the following steps: acquiring an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle; generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value; and judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated. Under the condition of ensuring the driving safety of the driver, unnecessary early warning is reduced, and the driving experience of the driver is improved.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a lane departure early warning method, a lane departure early warning device, lane departure early warning equipment and a readable storage medium.
Background
A Lane Departure Warning System (LDW) is a System that assists a driver in reducing traffic accidents caused by Lane Departure of an automobile by alarming.
The system provides intelligent lane departure early warning, can give an alarm before a lane departs when the lane departs from the original lane, provides more reaction time for a driver, and greatly reduces collision accidents caused by lane departure.
However, in the prior art, the LDW has certain limitations, and when the driver is faced with a complex road condition, the driver may be mistakenly warned, which reduces the driving experience of the driver.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a lane departure early warning method, and aims to solve the technical problem that the current LDW technology gives a false alarm when facing complex vehicle conditions.
In order to achieve the above object, the present invention provides a lane departure warning method, including the steps of:
acquiring an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
acquiring an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
Further, the current driving environment includes lane line type, lane setting fence condition, lane width, curvature of lane line, large-sized vehicle condition near the current vehicle, preset deviation sensitivity, and steering wheel feedback grip strength of the current vehicle; the step of generating a deviation compensation value according to the current driving environment comprises:
generating a type deviation compensation value according to the lane line type;
generating a fence deviation compensation value according to the situation of the lane fence;
generating a width deviation compensation value according to the lane width;
generating a curvature deviation compensation value according to the curvature of the lane line;
generating a safety deviation compensation value according to the condition of the large vehicle;
generating a sensitivity deviation compensation value according to the preset deviation sensitivity;
generating a grip deviation compensation value according to the grip fed back by the steering wheel;
the deviation compensation values include the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value, and the grip deviation compensation value.
Further, the step of generating the reset distance from the current vehicle to the reset lane line according to the actual distance and the deviation compensation value includes:
adding the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value and the grip deviation compensation value to obtain a total compensation value;
taking the sum of the total compensation value and the actual distance as the reset distance.
Further, before the step of taking the sum of the total compensation value and the actual distance as the reset distance, the method comprises:
judging whether the total compensation value is greater than a preset maximum total compensation value or not, and if the total compensation value is greater than the preset maximum total compensation value, taking the preset maximum total compensation value as the total compensation value;
and judging whether the total compensation value is smaller than a preset minimum total compensation value or not, and if the total compensation value is smaller than the preset minimum total compensation value, taking the preset minimum total compensation value as the total compensation value, wherein the minimum total compensation value is smaller than the maximum total compensation value.
Further, the step of determining whether the current vehicle is currently lane-deviated based on the reset distance includes:
generating the minimum distance between the vehicle edge of the current vehicle and the reset lane line and the estimated time of the current vehicle reaching the reset lane line according to the reset distance;
judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the estimated time is smaller than a second threshold value or not;
determining that the current vehicle is lane-deviated when the minimum distance is less than the first threshold and the estimated time is less than the second threshold.
Further, before the step of determining whether the current vehicle is currently lane-deviated based on the reset distance, the method includes:
judging whether the current vehicle meets a preset early warning suppression condition or not according to the current vehicle condition of the current vehicle;
when the current vehicle is judged not to meet the preset early warning inhibition condition, the step of judging whether the current vehicle is lane departure or not based on the reset distance is executed;
and stopping the early warning action when the current vehicle is judged to meet the preset early warning inhibition condition.
Further, the step of judging whether the current vehicle meets a preset early warning suppression condition according to the current vehicle condition of the current vehicle includes:
comparing the speed of the current vehicle with a preset maximum speed, comparing the speed of the current vehicle with a preset minimum speed, comparing the yaw rate of the current vehicle with a preset maximum yaw rate, comparing the lane width of the lane where the current vehicle is located with a preset maximum lane width, comparing the lane curvature of the current vehicle with a preset maximum lane curvature, comparing the steering wheel turning rate of the current vehicle with a preset maximum turning rate, and judging whether the current vehicle turns on a steering lamp or not;
and when the current vehicle meets any one of the conditions that the vehicle speed is greater than the preset maximum vehicle speed, the vehicle speed is less than the preset minimum vehicle speed, the yaw rate is greater than the preset maximum yaw rate, the lane width is greater than the preset maximum lane width, the lane curvature is greater than the preset maximum lane curvature, the steering wheel turning rate is greater than the preset maximum turning rate or a steering lamp is turned on, judging that the current vehicle meets the preset early warning inhibition condition.
In addition, to achieve the above object, the present invention also provides a lane departure warning apparatus, including:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module acquires an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
the correction module is used for generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and the early warning module is used for judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
In addition, to achieve the above object, the present invention also provides a lane departure-based early warning apparatus, including: the lane departure early warning system comprises a memory, a processor and a lane departure early warning program stored on the memory and capable of running on the processor, wherein the lane departure early warning program realizes the steps of the lane departure early warning method when being executed by the processor.
In addition, to achieve the above object, the present invention also provides a readable storage medium having stored thereon a lane departure warning program, which when executed by a processor, implements the steps of the lane departure warning method as described above.
According to the lane departure early warning method provided by the embodiment of the invention, a plurality of driving scenes are identified through a vehicle-mounted sensor, and the current lane line of the vehicle is dynamically biased based on different driving scenes, so that the sensitivity of the early warning system is reduced when the driver possibly has a scene of subjective intention of deviating from the lane, and the sensitivity of the early warning system is improved when the driver possibly has the scene of the subjective intention of deviating from the lane, so that the unnecessary early warning is reduced and the driving experience of the driver is improved under the condition of ensuring the driving safety of the driver.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a first embodiment of the lane departure warning method.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be a vehicle machine, and also can be an electronic terminal device with data receiving, data processing and data sending functions, such as a smart phone, a tablet computer, a PC, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and so forth. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the device architecture shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a lane departure warning program.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the lane departure warning program stored in the memory 1005, and perform the following operations:
acquiring an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
the current driving environment comprises lane line types, lane setting fence conditions, lane width, lane line curvature, large-scale vehicle conditions near the current vehicle, preset deviation sensitivity and steering wheel feedback grip strength of the current vehicle; the step of generating a deviation compensation value according to the current driving environment comprises:
generating a type deviation compensation value according to the lane line type;
generating a fence deviation compensation value according to the situation of the lane fence;
generating a width deviation compensation value according to the lane width;
generating a curvature deviation compensation value according to the curvature of the lane line;
generating a safety deviation compensation value according to the condition of the large vehicle;
generating a sensitivity deviation compensation value according to the preset deviation sensitivity;
generating a grip deviation compensation value according to the grip fed back by the steering wheel;
the deviation compensation values include the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value, and the grip deviation compensation value.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
the step of generating the reset distance of the current vehicle distance reset lane line according to the actual distance and the deviation compensation value includes:
adding the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value and the grip deviation compensation value to obtain a total compensation value;
taking the sum of the total compensation value and the actual distance as the reset distance.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
prior to the step of taking the sum of the total compensation value and the actual distance as the reset distance, comprising:
judging whether the total compensation value is greater than a preset maximum total compensation value or not, and if the total compensation value is greater than the preset maximum total compensation value, taking the preset maximum total compensation value as the total compensation value;
and judging whether the total compensation value is smaller than a preset minimum total compensation value or not, and if the total compensation value is smaller than the preset minimum total compensation value, taking the preset minimum total compensation value as the total compensation value, wherein the minimum total compensation value is smaller than the maximum total compensation value.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
the step of determining whether the current vehicle is currently lane-deviated based on the reset distance includes:
generating the minimum distance between the vehicle edge of the current vehicle and the reset lane line and the estimated time of the current vehicle reaching the reset lane line according to the reset distance;
judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the estimated time is smaller than a second threshold value or not;
determining that the current vehicle is lane-deviated when the minimum distance is less than the first threshold and the estimated time is less than the second threshold.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
before the step of determining whether the current vehicle is currently lane-deviated based on the reset distance, the method includes:
judging whether the current vehicle meets a preset early warning suppression condition or not according to the current vehicle condition of the current vehicle;
when the current vehicle is judged not to meet the preset early warning inhibition condition, the step of judging whether the current vehicle is lane departure or not based on the reset distance is executed;
and stopping the early warning action when the current vehicle is judged to meet the preset early warning inhibition condition.
Further, the processor 1001 may call the lane departure warning program stored in the memory 1005, and also perform the following operations:
the step of judging whether the current vehicle meets a preset early warning suppression condition according to the current vehicle condition of the current vehicle comprises the following steps:
comparing the speed of the current vehicle with a preset maximum speed, comparing the speed of the current vehicle with a preset minimum speed, comparing the yaw rate of the current vehicle with a preset maximum yaw rate, comparing the lane width of the lane where the current vehicle is located with a preset maximum lane width, comparing the lane curvature of the current vehicle with a preset maximum lane curvature, comparing the steering wheel turning rate of the current vehicle with a preset maximum turning rate, and judging whether the current vehicle turns on a steering lamp or not;
and when the current vehicle meets any one of the conditions that the vehicle speed is greater than the preset maximum vehicle speed, the vehicle speed is less than the preset minimum vehicle speed, the yaw rate is greater than the preset maximum yaw rate, the lane width is greater than the preset maximum lane width, the lane curvature is greater than the preset maximum lane curvature, the steering wheel turning rate is greater than the preset maximum turning rate or a steering lamp is turned on, judging that the current vehicle meets the preset early warning inhibition condition.
Referring to fig. 2, a lane departure warning method according to a first embodiment of the present invention includes:
step S10, acquiring the actual lane line of the current vehicle and the current driving environment of the current vehicle through the vehicle-mounted sensor of the current vehicle;
the vehicle-mounted sensor can be a vehicle-mounted camera, specifically, for example, according to the vehicle-mounted camera mounted on a vehicle, a current driving lane line of the vehicle is obtained through an image recognition technology, the lane line is used for guiding the vehicle to drive, and similarly, according to the vehicle-mounted camera, a current driving environment of the vehicle can be obtained, wherein the current driving environment comprises lane line types, lane setting fence conditions, lane widths, curvatures of the lane line, large-sized vehicle conditions near the current vehicle, preset deviation sensitivity, steering wheel feedback grip strength of the current vehicle and the like.
Step S20, generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
it can be understood that the vehicle-mounted camera directly obtains the lane line as an actual lane line, and similarly, the distance between the vehicle-mounted camera and the actual lane line, that is, the actual distance (two lane lines are usually present on the left and right sides of the vehicle when the vehicle is running, and in this embodiment, the actual distance is the distance between the vehicle-mounted camera and the nearest actual lane line) can be generated according to the determined lane line and the image recognition technology, and further, a deviation compensation value is generated according to the current driving environment, so that the influence of the complex driving environment on the lane departure warning system can be compensated, for example, when the deviation compensation value is a negative value, the lane line of the actual lane line is biased towards the inside of the lane, so as to improve the sensitivity of the warning, and when the deviation compensation value is a positive value, the lane line of the actual lane line is biased towards the outside of the lane, so as to reduce the sensitivity of the warning, and finally, the actual lane line is corrected based on the deviation compensation value, so as to obtain a reset lane line, the specific offset compensation generation method is as follows:
further, generating a type deviation compensation value according to the type of the lane line; generating a fence deviation compensation value according to the situation of the lane fence; generating a width deviation compensation value according to the lane width; generating a curvature deviation compensation value according to the curvature of the lane line; generating a safety deviation compensation value according to the condition of the large vehicle; generating a sensitivity deviation compensation value according to the preset deviation sensitivity; generating a grip deviation compensation value according to the grip fed back by the steering wheel; the deviation compensation values include the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value, and the grip deviation compensation value.
Specifically, after the picture of the lane line is acquired through the vehicle-mounted camera, the type of the lane line can be judged, wherein the type of the lane line can be as follows: the lane line is a double solid line, and therefore, the lane change intention of the driver is low, and therefore, the lane change intention of the driver is negative (-0.1m) or close to 0, and the generated type deviation compensation value is negative or 0, and if the lane line is a dashed line, the lane change intention of the driver is high, and therefore, the lane change intention of the driver is positive, and it is understandable that each of the above-mentioned specific deviation compensation values may be set according to an empirical value according to an actual situation, and here, the specific deviation compensation value is not specifically defined. Whether the current lane where the vehicle runs has a fence or not can be judged through the vehicle-mounted camera, if the lane has the fence, the lane changing intention hardly exists in the driver, so the generated fence deviation compensation value can be set to be a negative value, and if the fence does not exist, the generated fence deviation compensation value is 0. Similarly, the lane width (the distance between two lane lines on one road) of the current vehicle can be acquired through the vehicle-mounted camera, the ratio of the vehicle width of the vehicle to the lane width is obtained, and the width ratio is obtained, for example, the ratios of the vehicle width to the lane width are 0.6, 0.7, 0.8, 0.9, 1 and 1.1, which correspond to the compensation values of-0.2, -0.15, -0.1, -0.05, 0 and 0.15 respectively, namely, when the road becomes narrow, the early warning sensitivity is reduced, the lane lines are biased outwards, or the ratio of the vehicle width to the lane width is input into an empirical formula to obtain the width deviation compensation value. According to the acquired lane line, the curvature of the lane line can be identified, for example, the curvatures are 0.005, 0.003, 0.002, 0.0013, 0.001, 0.0005 and 0.00025, and the compensation values are respectively corresponding to 0.2, 0.15, 0.13, 0.10, 0.08, 0.05 and 0, namely, the lane line is more prone to be biased outwards when the curvature is larger, so that the lane line conforms to the driving habit that a driver tends to approach the lane line when the driver makes a cut curve, and the curvature deviation compensation value can also be obtained based on an empirical formula. The vehicle-mounted camera can also capture whether a large vehicle exists around the current vehicle, if so, the generated safety deviation compensation value is a positive value, namely, when the large vehicle exists, the driver tends to drive away from the large vehicle due to safety consideration, so that the lane line is biased outwards, and the early warning sensitivity is reduced. The driver can also set the sensitivity of the early warning according to the driving experience of the driver, and generate a corresponding sensitivity deviation compensation value according to the setting of the driver, and it can be understood that the sensitivity set by the driver is not the total sensitivity of the early warning, but the subjective factor of the driver is added into the generation of the total sensitivity of the early warning. In addition, a grip deviation compensation value is generated according to the grip of the driver, for example, the force applied to the steering wheel by the driver is collected through pressure sensing of the steering wheel, when the grip is smaller than a preset grip threshold, different grip deviation compensation values are set according to the duration of the grip deviation compensation value smaller than the preset threshold, for example, the grip deviation compensation value is smaller than the preset grip threshold for 1 second, 2 seconds, 3 seconds, 5 seconds, 8 seconds, 10 seconds and 20 seconds, and is respectively corresponding to 0, 0.05, 0.08, 0.11, 0.13, 0.15 and 0.2, namely, the smaller the grip and the longer the duration are, the more the lane line is biased inwards, and the early warning sensitivity is improved.
Further, the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value and the grip deviation compensation value are added to obtain a total compensation value; taking the sum of the total compensation value and the actual distance as the reset distance.
Specifically, the total difference compensation value is obtained by adding the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value and the grip deviation compensation value generated according to the driving environment.
Further, before the step of taking the sum of the total compensation value and the actual distance as the reset distance, judging whether the total compensation value is greater than a preset maximum total compensation value, and if the total compensation value is greater than the preset maximum total compensation value, taking the preset maximum total compensation value as the total compensation value; and judging whether the total compensation value is smaller than a preset minimum total compensation value or not, and if the total compensation value is smaller than the preset minimum total compensation value, taking the preset minimum total compensation value as the total compensation value, wherein the minimum total compensation value is smaller than the maximum total compensation value.
Specifically, if the preset maximum total compensation value is 0.5 and the preset minimum total compensation value is-0.5, if the total compensation value is finally calculated by combining various factors to be 0.6 and is greater than the maximum total compensation value by 0.5, the total compensation value is replaced by 0.5, and similarly, if the total compensation value is calculated to be-0.6, the total compensation value is replaced by-0.5.
After the total compensation value is determined, the actual lane line can be corrected and biased based on the total compensation value to obtain a reset lane line, and similarly, the total compensation value and the actual distance (obtained by calculation based on the actual lane line) are added to obtain a reset distance, namely the distance between the vehicle-mounted camera and the reset lane line.
It can be understood that, in this embodiment, objective driving environment factors such as lane line type, lane fence setting condition, lane width, curvature of lane line, large-sized vehicle condition near the current vehicle, preset deviation sensitivity, steering wheel feedback grip strength of the current vehicle, and subjective factors of the driver are considered when determining whether the vehicle has lane deviation, so that unnecessary alarm of the early warning system is reduced by comprehensive determination, and driving comfort of the driver is improved.
And step S30, judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
Further, generating a minimum distance between the vehicle edge of the current vehicle and the reset lane line according to the reset distance, and an estimated time when the current vehicle reaches the reset lane line; judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the estimated time is smaller than a second threshold value or not; determining that the current vehicle is lane-deviated when the minimum distance is less than the first threshold and the estimated time is less than the second threshold.
The vehicle width of the host vehicle is subtracted 1/2 from the reset distance to obtain the minimum distance of the lane line (reset lane line) after the edge distance correction offset of the host vehicle. In addition, the transverse speed (the speed of the vehicle in the direction perpendicular to the lane line) of the vehicle is obtained according to the difference between the two minimum distances generated by the warning system and the time difference between the two minimum distances, and if the first minimum distance generated by the warning system is 0.3m and the second minimum distance generated by the warning system is 0.29m after the first minimum distance is 0.3m and the second minimum distance is 0.1s, the transverse speed is (0.3-0.29)/0.1 is 1m/s, it can be understood that the system interval can be set according to the actual situation, and is not limited herein. The estimated time for the vehicle to reach the reset lane line is obtained from the minimum distance and the synchronized lateral velocity, and as based on the above example, the lateral phase velocity is 1m/s for a minimum distance of 0.5m, resulting in an estimated time of 0.5 s. And when the minimum distance is smaller than a preset first threshold value and the estimated time is smaller than a preset second threshold value, judging that the current vehicle has lane departure, and outputting early warning information (the deviation of the voice broadcast vehicle).
Further, optionally, before the step of determining whether the current vehicle is currently lane-deviated based on the reset distance, comparing the vehicle speed of the current vehicle with a preset maximum vehicle speed, comparing the vehicle speed of the current vehicle with a preset minimum vehicle speed, comparing the yaw rate of the current vehicle with a preset maximum yaw rate, comparing the lane width of the lane where the current vehicle is located with a preset maximum lane width, comparing the lane curvature where the current vehicle is located with a preset maximum lane curvature, comparing the steering wheel turning rate of the current vehicle with a preset maximum turning rate, and determining whether the current vehicle turns on a turn light; and when the current vehicle meets any one of the conditions that the vehicle speed is greater than the preset maximum vehicle speed, the vehicle speed is less than the preset minimum vehicle speed, the yaw rate is greater than the preset maximum yaw rate, the lane width is greater than the preset maximum lane width, the lane curvature is greater than the preset maximum lane curvature, the steering wheel turning rate is greater than the preset maximum turning rate or a steering lamp is turned on, judging that the current vehicle meets the preset early warning inhibition condition.
Specifically, before the early warning system judges whether the current vehicle is lane-deviated or not, it is further judged whether an early warning demand exists in the current driving scene, if the vehicle turns on the turn signal, the driver actively deviates from the lane, and no early warning is needed, and the early warning system is turned off at this time, so that unnecessary early warning is avoided.
It can be understood that, in this embodiment, a variety of driving scenes are identified by the vehicle-mounted sensor, and the current lane line of the vehicle is dynamically biased, so that when the driver may have a scene with a subjective intention of deviating from the lane, the sensitivity of the early warning system is reduced, and when the driver may not have a scene with a subjective intention of deviating from the lane, the sensitivity of the early warning system is improved, so that under the condition of ensuring the driving safety of the driver, unnecessary early warning is reduced, and the driving experience of the driver is improved.
In addition, this embodiment still provides a lane departure early warning device, lane departure early warning device includes:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module acquires an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
the correction module is used for generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and the early warning module is used for judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
In addition, this embodiment also provides a lane departure-based early warning apparatus, which includes: the lane departure early warning system comprises a memory, a processor and a lane departure early warning program stored on the memory and capable of running on the processor, wherein the lane departure early warning program realizes the steps of the lane departure early warning method when being executed by the processor.
In addition, the present embodiment also provides a readable storage medium, on which a lane departure early warning program is stored, and the lane departure early warning program, when executed by a processor, implements the steps of the lane departure early warning method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A lane departure warning method is characterized by comprising the following steps:
acquiring an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
2. The lane departure warning method according to claim 1, wherein the current driving environment includes a lane line type, a lane setting fence condition, a lane width, a curvature of a lane line, a large vehicle condition near the current vehicle, a preset departure sensitivity, and a steering wheel feedback grip of the current vehicle; the step of generating a deviation compensation value according to the current driving environment comprises:
generating a type deviation compensation value according to the lane line type;
generating a fence deviation compensation value according to the situation of the lane fence;
generating a width deviation compensation value according to the lane width;
generating a curvature deviation compensation value according to the curvature of the lane line;
generating a safety deviation compensation value according to the condition of the large vehicle;
generating a sensitivity deviation compensation value according to the preset deviation sensitivity;
generating a grip deviation compensation value according to the grip fed back by the steering wheel;
the deviation compensation values include the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value, and the grip deviation compensation value.
3. The lane departure warning method according to claim 2, wherein the step of generating a reset distance of the current vehicle from the reset lane line based on the actual distance and the deviation compensation value comprises:
adding the type deviation compensation value, the fence deviation compensation value, the width deviation compensation value, the curvature deviation compensation value, the safety deviation compensation value, the sensitivity deviation compensation value and the grip deviation compensation value to obtain a total compensation value;
taking the sum of the total compensation value and the actual distance as the reset distance.
4. A lane departure warning method as claimed in claim 3, wherein prior to said step of summing said total compensation value with said actual distance as said reset distance, comprising:
judging whether the total compensation value is greater than a preset maximum total compensation value or not, and if the total compensation value is greater than the preset maximum total compensation value, taking the preset maximum total compensation value as the total compensation value;
and judging whether the total compensation value is smaller than a preset minimum total compensation value or not, and if the total compensation value is smaller than the preset minimum total compensation value, taking the preset minimum total compensation value as the total compensation value, wherein the minimum total compensation value is smaller than the maximum total compensation value.
5. The lane departure warning method according to claim 3, wherein the step of determining whether the current vehicle is currently lane-deviated based on the reset distance comprises:
generating the minimum distance between the vehicle edge of the current vehicle and the reset lane line and the estimated time of the current vehicle reaching the reset lane line according to the reset distance;
judging whether the minimum distance is smaller than a first threshold value or not, and judging whether the estimated time is smaller than a second threshold value or not;
determining that the current vehicle is lane-deviated when the minimum distance is less than the first threshold and the estimated time is less than the second threshold.
6. The lane departure warning method according to claim 1, comprising, before the step of determining whether the current vehicle is currently lane-deviated based on the reset distance:
judging whether the current vehicle meets a preset early warning suppression condition or not according to the current vehicle condition of the current vehicle;
when the current vehicle is judged not to meet the preset early warning inhibition condition, the step of judging whether the current vehicle is lane departure or not based on the reset distance is executed;
and stopping the early warning action when the current vehicle is judged to meet the preset early warning inhibition condition.
7. The lane departure warning method according to claim 6, wherein the step of determining whether the current vehicle satisfies a preset warning suppression condition according to the current vehicle condition of the current vehicle comprises:
comparing the speed of the current vehicle with a preset maximum speed, comparing the speed of the current vehicle with a preset minimum speed, comparing the yaw rate of the current vehicle with a preset maximum yaw rate, comparing the lane width of the lane where the current vehicle is located with a preset maximum lane width, comparing the lane curvature of the current vehicle with a preset maximum lane curvature, comparing the steering wheel turning rate of the current vehicle with a preset maximum turning rate, and judging whether the current vehicle turns on a steering lamp or not;
and when the current vehicle meets any one of the conditions that the vehicle speed is greater than the preset maximum vehicle speed, the vehicle speed is less than the preset minimum vehicle speed, the yaw rate is greater than the preset maximum yaw rate, the lane width is greater than the preset maximum lane width, the lane curvature is greater than the preset maximum lane curvature, the steering wheel turning rate is greater than the preset maximum turning rate or a steering lamp is turned on, judging that the current vehicle meets the preset early warning inhibition condition.
8. A lane departure warning apparatus, characterized by comprising:
the system comprises an acquisition module, a display module and a display module, wherein the acquisition module acquires an actual lane line of a current vehicle and a current driving environment of the current vehicle through a vehicle-mounted sensor of the current vehicle;
the correction module is used for generating an actual distance between the current vehicle and the actual lane line according to the actual lane line, generating a deviation compensation value according to the current driving environment, and generating a reset distance between the vehicle and the reset lane line according to the actual distance and the deviation compensation value, wherein the reset lane line is generated by correcting the actual lane line based on the deviation compensation value;
and the early warning module is used for judging whether the current vehicle is lane deviated or not based on the reset distance, and outputting early warning information if the current vehicle is judged to be lane deviated.
9. A lane departure warning apparatus, comprising: a memory, a processor and a lane departure warning program stored on the memory and executable on the processor, the lane departure warning program when executed by the processor implementing the steps of the lane departure warning method according to any one of claims 1 to 7.
10. A readable storage medium having stored thereon a lane departure warning program, which when executed by a processor implements the steps of the lane departure warning method according to any one of claims 1 to 7.
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