CN118082821A - Lane departure regulation and control method, device and system and vehicle - Google Patents

Abstract

The invention discloses a lane departure regulation and control method, a lane departure regulation and control device, a lane departure regulation and control system and a vehicle, and belongs to the technical field of vehicles. The lane departure regulation method may include: acquiring navigation information of a vehicle in real time, and monitoring the running condition of the vehicle; under the condition that the driving condition indicates that the vehicle is in a rapid lane change, determining whether the vehicle is in a normal lane change stage according to the navigation information; when the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes; and when the vehicle is determined to be in the abnormal lane change stage, calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning. The lane departure intervention can be avoided in the normal operation rapid lane change process of the driver, so that the riding experience of the passengers is improved.

Description

Lane departure regulation and control method, device and system and vehicle

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a lane departure regulation method, device, system, and vehicle.

Background

In order to reduce the risk of collision caused by lane changes of the vehicle, a lane departure warning system is installed on the vehicle. At present, the lane departure warning system mainly prevents the lane departure of the vehicle in the case that the vehicle does not receive the lane change indication (such as the flashing of the left turn light or the right turn light) and the steering wheel is rotated rapidly/the vehicle is deviated from the current driving path.

For the situation that a driver suddenly and rapidly rotates a steering wheel to change a lane (for example, due to delay of a navigation signal and the like at a highway exit, the space in which the driver can operate the lane is smaller, and the driver is required to rapidly operate the steering wheel to change the lane), the lane change is prevented by the existing lane departure warning system, or the vehicle is severely dithered due to different lane departure warning systems and driver operations, so that the riding experience of a rider is affected; or the lane departure warning system causes the lane change failure of the driver, and the route needs to be re-planned, which also affects the riding experience of the passengers.

Disclosure of Invention

In view of the above, the present invention provides a lane departure regulation and control method, device, system and vehicle, which can determine whether a vehicle is in a normal lane change stage or an abnormal lane change stage in a lane change process of the vehicle, so as to determine that a driver normally operates the lane change in the normal lane change stage, and not to perform lane departure intervention on the vehicle, and allow the lane change of the vehicle, so as to improve riding experience of passengers.

In order to solve the technical problems, the invention provides the following technical scheme:

In a first aspect, the present invention provides a lane departure regulation method, including:

acquiring navigation information of a vehicle in real time, and monitoring the running condition of the vehicle;

determining whether the vehicle is in a normal lane change stage according to the navigation information under the condition that the driving condition indicates that the vehicle is in an abrupt lane change;

When the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes;

And when the vehicle is determined to be in an abnormal lane change stage, calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning.

Optionally, the lane departure regulation method further comprises: the system is in communication connection with a vehicle-mounted system;

the real-time acquisition of the navigation information of the vehicle comprises the following steps:

and acquiring navigation information of the vehicle in real time through the vehicle-mounted system.

Optionally, the acquiring, by the vehicle-to-machine system, the navigation information of the vehicle in real time includes:

The method comprises the steps that the vehicle-mounted system is connected with a peripheral terminal, and navigation information provided by the peripheral terminal is obtained through the vehicle-mounted system;

Or alternatively

Directly acquiring navigation information from the vehicle-mounted system;

Or alternatively

And receiving navigation information which is sent by the vehicle-mounted system and contains the lane changing signal.

Optionally, the determining whether the vehicle is in a normal lane-change phase includes:

and taking the moment when the vehicle starts to rapidly change the track as a base point, and determining that the vehicle is in an abnormal track changing stage if navigation information containing a track changing signal is not acquired in a set period before the base point.

Optionally, the determining whether the vehicle is in a normal lane-change stage further includes:

Judging whether the lane change signal is consistent with the lane change track of the vehicle or not under the condition that navigation information containing the lane change signal is acquired in a set period before the base point, and if so, determining that the vehicle is in a normal lane change stage; otherwise, determining that the vehicle is in an abnormal lane change phase.

Optionally, after determining that the vehicle is in the normal lane-change stage, before the allowing the vehicle to continue the rapid lane-change, the method further includes:

judging whether the vehicle is in a safe lane change road section according to the road conditions around the vehicle;

Allowing the vehicle to continue to rapidly change the road when judging that the vehicle is in a safe road change section;

and calling the lane departure warning system to make the lane departure warning system perform lane departure warning when the condition that the vehicle is not in the safety change road section is judged.

Optionally, the fast lane change includes:

the steering wheel rotation rate exceeds a preset rotation rate threshold;

and/or the number of the groups of groups,

The wheel deflection angle of the vehicle exceeds a preset angle threshold and the driver is in a normal driving state.

In a second aspect, an embodiment of the present invention provides a lane departure regulating apparatus, including: the system comprises an interaction module, an information processing module and a scheduling module, wherein,

The interaction module is used for acquiring navigation information of the vehicle in real time and monitoring the running condition of the vehicle;

The information processing module is used for determining whether the vehicle is in a normal lane change stage according to the navigation information under the condition that the driving condition indicates that the vehicle is in an abrupt lane change; when the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes; triggering the scheduling module when the vehicle is determined to be in an abnormal lane change stage;

And the scheduling module is used for calling a lane departure warning system under the condition that the information processing module is triggered, so that the lane departure warning system carries out lane departure warning.

In a third aspect, an embodiment of the present invention provides a lane departure regulation and control system, including: the lane departure warning system and the lane departure regulating device provided in the second aspect of the embodiment described above, wherein,

The lane departure warning system is used for warning the lane departure of the vehicle under the condition that the call of the lane departure regulating device is received.

In a fourth aspect, an embodiment of the present invention provides a vehicle including: the above third aspect provides a lane departure regulating system.

In a fifth aspect, embodiments of the present invention provide a computer-readable medium having stored thereon a computer program for implementing lane departure regulation,

The computer program when executed by the on-vehicle processor implements the lane departure regulating method as provided in the embodiment of the first aspect described above.

In a sixth aspect, an embodiment of the present invention provides an electronic device for lane departure regulation, including:

one or more processors;

storage means for storing one or more programs,

The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the lane departure regulating method as provided by the embodiment of the first aspect described above.

The technical scheme of the invention has the following advantages or beneficial effects:

According to the technical scheme provided by the embodiment of the invention, whether the vehicle is in the normal lane change stage or the abnormal lane change stage can be determined in the vehicle rapid lane change process, so that the driver can be determined to normally operate the rapid lane change without carrying out lane departure intervention on the vehicle, the lane change is allowed, and the lane departure warning system can be called when the vehicle is in the abnormal lane change stage, so that the lane departure warning system can carry out lane departure warning, the abnormal lane change of the vehicle is avoided, and the riding experience of passengers is improved.

Drawings

FIG. 1 is a schematic diagram of a relative relationship between a vehicle and an intersection before changing lanes according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a correlation between a vehicle and a lane line in a lane change process of the vehicle according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a main flow of a lane departure regulation method according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart of a lane departure regulating method according to another embodiment of the present invention;

FIG. 5 is a schematic diagram of the relative position relationship between a vehicle and a lane after lane change of the vehicle according to an embodiment of the present invention;

FIG. 6 is a schematic view of the main structure of a lane departure regulating apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the main structure of a lane departure regulating system according to an embodiment of the present invention;

FIG. 8 is an exemplary vehicle system architecture diagram in which embodiments of the present invention may be applied;

fig. 9 is a schematic diagram of a computer system for implementing a lane departure regulating method or apparatus suitable for implementing an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

It should be noted that the embodiments of the present invention and the technical features in the embodiments may be combined with each other without collision.

In the driving process of a vehicle on a road such as an urban common road, an expressway and the like, as shown in fig. 1, the vehicle can be related to the situation of changing a road at an intersection, and a driver needs to operate a steering wheel in time so as to ensure that the vehicle can safely change the road at the intersection. However, the road section of the intersection where the vehicle is traveling may have a certain delay due to various reasons, and under the condition that the navigation guidance lane change signal is sent or the driver finds that the lane change is needed, as shown in fig. 1, the space available for the driver to operate the lane change is limited, in this case, the existing lane departure warning system installed in the current vehicle generally determines whether the vehicle deviates from the current road or detects that the steering wheel rotates rapidly according to whether the vehicle approaches the lane line, that is, the existing lane departure warning system installed in the current vehicle determines that the vehicle is in the lane change area and the vehicle has a relatively large probability of pressing the lane solid line or detecting that the steering wheel rotates rapidly as shown in fig. 2. At present, when a vehicle is in a lane-changing area shown in fig. 2 and has a relatively large probability of pressing a lane solid line or detecting that a steering wheel rotates rapidly, the installed conventional lane departure warning system can prevent the vehicle from changing lanes, the lane-changing preventing process of the vehicle is opposite to the direction of a driver operating the steering wheel, at the moment, the vehicle and the steering wheel can shake, the shake not only can influence riding experience of personnel in the vehicle, but also can influence the driver operating the steering wheel, and therefore the running safety of the vehicle is reduced.

The lane departure warning system aims to solve the problems existing in the lane departure warning system in the prior art. The embodiment of the invention provides a lane departure regulation and control method applied to a vehicle. The vehicle according to the embodiment of the invention may be an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, or the like.

Fig. 1 is a schematic flow chart of a lane departure regulation method according to an embodiment of the present invention. As shown in fig. 3, the lane departure regulation method may include the steps of:

step S301: acquiring navigation information of a vehicle in real time, and monitoring the running condition of the vehicle;

The navigation information indicates a position where the vehicle is located, a direction in which the vehicle is traveling, a lane change position of the vehicle, road condition information of an area where the vehicle is located, and the like.

The running condition of the vehicle indicates the lane in which the vehicle is currently located, the vehicles around the vehicle, the running speed of the vehicle, the wheel orientation, the steering wheel rotation condition, and the like.

Step S302: under the condition that the driving condition indicates that the vehicle is in a rapid lane change, determining whether the vehicle is in a normal lane change stage according to the navigation information; if it is determined that the vehicle is in the normal lane change stage K1, step S303 is executed; if it is determined that the vehicle is in the abnormal lane change stage K2, step S304:

Wherein, the fast lane change may comprise: the steering wheel rotation rate exceeds a preset rotation rate threshold; and/or the wheel deflection angle of the vehicle exceeds a preset angle threshold and the driver is in a normal driving state.

The steering wheel rotation rate refers to an angle by which the steering wheel rotates in a unit time, for example, 1 ms. The rotation rate threshold may be preset according to the test result.

The angle threshold may be preset according to the test result.

The normal lane change stage refers to the navigation information including lane change signals, the lane change of the vehicle in a lane change area, the lane change of the steering wheel operated by the driver, and no other vehicles around the vehicle.

Step S303: allowing the vehicle to continue to rapidly change lanes and ending the current flow;

Step S304: and calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning.

The lane departure warning system can control the steering wheel or the vehicle control system by the lane departure warning system to enable the vehicle to return to the current lane to continue running. The lane departure warning system can also remind a driver of lane departure of the vehicle in a voice or vibration mode, and the driver needs to operate the steering wheel to enable the vehicle to return to the current driving lane.

Aiming at the technical scheme of lane departure regulation and control provided by the figure 3, whether the vehicle is in a normal lane change stage or an abnormal lane change stage can be determined in the vehicle rapid lane change process, so that the driver can be determined to normally operate the rapid lane change in the normal lane change stage, lane departure intervention is not carried out on the vehicle, the vehicle is allowed to change lanes, and a lane departure early warning system can be called in the abnormal lane change stage, so that the lane departure early warning system can carry out lane departure early warning, the abnormal lane change of the vehicle is avoided, and the riding experience of passengers is improved.

The technical scheme provided by the embodiment of the invention not only can prevent the vehicle from changing lanes in the abnormal lane changing process of the vehicle, but also can identify the rapid lane changing operated by the driver so as to ensure that the vehicle can change lanes rapidly and successfully.

Further, the method provided by the embodiment of the invention further comprises the following steps: the system is in communication connection with a vehicle-mounted system; accordingly, the specific embodiment of acquiring the navigation information of the vehicle in real time may include: and acquiring navigation information of the vehicle in real time through the vehicle-mounted system. The device for realizing the lane departure regulation and control method provided by the embodiment of the invention is in communication connection with the vehicle-mounted system, and the navigation information of the vehicle is acquired in real time through the vehicle-mounted system, so that the stable acquisition of the navigation information is ensured.

The real-time acquisition of the navigation information of the vehicle through the vehicle-to-machine system can be realized in the following three modes:

the first way is: the vehicle-mounted navigation system is connected with the peripheral terminal, and navigation information provided by the peripheral terminal is obtained through the vehicle-mounted system.

The second way is: and directly acquiring navigation information from the vehicle-mounted system.

Third mode: and receiving navigation information which is sent by the vehicle machine system and contains the lane changing signal.

The navigation information obtained in the first and second modes may include various information indicating the vehicle to travel, such as vehicle position information, road junction information, road travel speed limit information, and the like.

The third aspect is that the vehicle system transmits the navigation information to the lane departure control apparatus only when the navigation information includes the lane change signal. The vehicle-mounted system selectively sends navigation information to the lane departure regulation and control device, namely only sends the navigation information containing the lane changing signal to the lane departure regulation and control device, and in the third mode, the lane departure regulation and control device can determine that the vehicle is in the lane changing area in a certain time period as long as the lane departure regulation and control device receives the navigation information.

Further, the specific embodiment of determining whether the vehicle is in the normal lane change stage may include: and taking the moment when the vehicle starts to rapidly change the track as a base point, and determining that the vehicle is in an abnormal track changing stage if navigation information containing a track changing signal is not acquired in a set period before the base point.

The set period of time may be determined during the testing phase. Under the condition that the navigation information comprises a straight signal, the vehicle-mounted system can send the navigation information to the lane departure regulation and control device again after a longer time (generally longer than a set period of time). In addition, after the vehicle receives the navigation information including the lane change signal, even if there is a certain delay in the navigation information, the driver can perform lane change of the vehicle by a rapid lane change operation such as rotating the steering wheel rapidly in the region within the set period. Therefore, by combining the set time period with the navigation information containing the lane change signal, whether the vehicle is in the normal lane change stage or not is determined more accurately, and the driver demand can be better met.

Further, the specific embodiment of determining whether the vehicle is in the normal lane change stage may further include: under the condition that navigation information containing a lane change signal is acquired in a set period before a base point, judging whether the lane change signal is consistent with a lane change track of a vehicle, and if so, determining that the vehicle is in a normal lane change stage; otherwise, it is determined that the vehicle is in an abnormal lane change phase. The lane change track of the vehicle can be ensured to be consistent with the lane change signal through the process, so that the lane change accuracy of the vehicle is ensured.

Further, after determining that the vehicle is in the normal lane change stage, before allowing the vehicle to continue the rapid lane change, the method may further include: judging whether the vehicle is in a safe lane change road section according to the road conditions around the vehicle; when the condition that the vehicle is in the safe lane change section is judged, the vehicle is allowed to continue to rapidly change lanes; and calling a lane departure warning system when the condition that the vehicle is not positioned on the safe lane change road section is judged, so that the lane departure warning system carries out lane departure warning.

The safety variable road section generally refers to that no other vehicles, pedestrians, obstacles and the like are nearby the vehicle.

It is worth to say that the method for judging whether the vehicle is in the safe lane change road section can adopt the prior art, and the analysis of the environment image and the vehicle running condition which are shot by combining the vehicle-mounted camera.

Further, the embodiment of the invention takes the direct acquisition of navigation information from a vehicle-mounted system as an example, and describes a lane departure regulation and control method in detail. As shown in fig. 4, the lane departure regulation method may include the steps of:

step S400: the device for realizing the lane departure regulation and control method is in communication connection with the vehicle-to-machine system;

This step is typically completed before the vehicle leaves the factory.

Step S401: directly acquiring navigation information from a vehicle-to-machine system and monitoring the running condition of a vehicle;

The method mainly aims at the technology that the vehicle navigation can be realized by the vehicle-to-machine system, and navigation information is not required to be acquired by an external terminal.

Step S402: according to the navigation information, and taking the moment when the vehicle starts to rapidly change the track as a base point, whether the navigation information containing the track changing signal is acquired within a set period before the base point, and executing step S403 when the navigation information containing the track changing signal is acquired, wherein the running condition indicates that the vehicle is in the condition of rapidly changing the track; in the case where the navigation information including the lane change signal is not acquired M2, step S405 is performed;

The vehicle shown in fig. 2 is in a rapid lane change, i.e., the steering wheel of the vehicle is rotated rapidly, so that the vehicle is changed from the state shown in fig. 1 to the state shown in fig. 2 in a relatively short time.

Step S403: judging whether the lane change signal is consistent with the lane change track of the vehicle, if so, executing step S404; if the lane change signal is inconsistent with the lane change trajectory of the vehicle S2, step S405 is executed;

for example, the lane change signal shown in fig. 2 indicates that the vehicle is lane changing to the right, and the vehicle is lane changing to the right accordingly, which indicates that the lane change track of the vehicle is consistent with the lane change signal.

Step S404: determining that the vehicle is in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes, and ending the current flow;

By this step, the driver can adjust the vehicle from the lane change state shown in fig. 2 to the state after lane change shown in fig. 5 by the rapid lane change in a relatively narrow lane change space. Through the combination of the navigation information in the process, the lane change of the vehicle can be realized in a narrower lane change space through the rapid lane change, the influence of the lane departure early warning system on the rapid lane change is avoided, the lane change success is ensured, and the riding experience of a user is improved.

Step S405: and determining that the vehicle is in an abnormal lane change stage, and calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning.

Wherein, the fast lane change may comprise: the steering wheel rotation rate exceeds a preset rotation rate threshold; and/or the wheel deflection angle of the vehicle exceeds a preset angle threshold and the driver is in a normal driving state.

Fig. 6 shows a schematic structural diagram of a lane departure regulating apparatus according to an embodiment of the present invention. As shown in fig. 6, a lane departure regulating apparatus 600 according to an embodiment of the present invention may include: an interaction module 601, an information processing module 602 and a scheduling module 603, wherein,

The interaction module 601 is configured to acquire navigation information of a vehicle in real time, and monitor a driving situation of the vehicle;

The information processing module 602 is configured to determine whether the vehicle is in a normal lane change stage according to the navigation information when the driving situation indicates that the vehicle is in a rapid lane change; when the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes; triggering the scheduling module 603 when determining that the vehicle is in an abnormal lane change stage;

The scheduling module 603 is configured to invoke the lane departure warning system to make the lane departure warning system perform lane departure warning when receiving the trigger of the information processing module 602.

Further, as shown in fig. 6, the lane departure regulating apparatus 600 may further include: the communication module 604, wherein,

The communication module 604 is in communication connection with the vehicle-to-machine system;

the interaction module 601 is further configured to obtain, in real time, navigation information of the vehicle through the vehicle-to-machine system based on the communication module 604.

In the embodiment of the present invention, the interaction module 601 is further configured to connect with a peripheral terminal through a vehicle-mounted system, and obtain navigation information provided by the peripheral terminal through the vehicle-mounted system.

In the embodiment of the present invention, the interaction module 601 is further configured to directly obtain navigation information from the vehicle system.

In the embodiment of the present invention, the interaction module 601 is further configured to receive navigation information including a lane change signal sent by the vehicle system.

In this embodiment of the present invention, the information processing module 602 is further configured to determine that the vehicle is in an abnormal lane change stage if navigation information including a lane change signal is not obtained within a set period of time before a base point by using a time when the vehicle starts to rapidly change lanes as the base point.

In the embodiment of the present invention, the information processing module 602 is further configured to determine whether the lane change signal is consistent with the lane change track of the vehicle when the navigation information including the lane change signal is acquired within a set period before the base point, and if so, determine that the vehicle is in a normal lane change stage; otherwise, it is determined that the vehicle is in an abnormal lane change phase.

In the embodiment of the present invention, the information processing module 602 is further configured to determine whether the vehicle is in a safe lane change road section according to the road conditions around the vehicle; when the condition that the vehicle is in the safe lane change section is judged, the vehicle is allowed to continue to rapidly change lanes; if it is determined that the vehicle is not on the safe lane-change road, the scheduling module 603 is triggered.

Further, fig. 7 shows a schematic structural diagram of a lane departure regulation and control system according to an embodiment of the present invention. As shown in fig. 7, the lane departure regulation system 700 may include: the lane departure warning system 701 and the lane departure regulating apparatus 600 shown in fig. 6 described above, wherein,

The lane departure warning system 701 is configured to, when receiving a call from the lane departure regulating apparatus 600, perform lane departure warning on the vehicle.

Further, an embodiment of the invention provides a vehicle. The vehicle may include: the lane departure control system shown in fig. 7 described above.

FIG. 8 illustrates an exemplary vehicle system architecture 800 to which a lane departure regulation method or lane departure regulation apparatus of an embodiment of the invention may be applied.

As shown in fig. 8, the vehicle system architecture 800 may include various systems, such as a driving control system 801, a power system 802, a sensor system 803, a control system 804, one or more peripherals 805, a power supply 806, a computer system 807, a user interface 808, and a lane departure warning system 809, wherein the lane departure regulating apparatus provided in the embodiments of the present invention may be installed in the control system 804. Alternatively, the vehicle system architecture 800 may include more or fewer systems, and each system may include multiple elements. In addition, each of the systems and elements of the vehicle system architecture 800 may be interconnected by wires or wirelessly.

The vehicle system architecture 800 includes a driving control system 801, where the driving control system 801 may be in a full or partial automatic driving mode or regulated according to driver operation of a steering wheel, clutch, throttle, etc. For example, the driving control system 801 may control safe running of the vehicle in accordance with the rotation direction and rotation angle of the steering wheel and the opening degree of the accelerator, etc. operated by the driver while interacting with the human.

The powertrain 802 may include components that provide powered movement of the vehicle. For example, the powertrain 802 may include an engine, an energy source, a transmission, wheels, tires, and the like. The engine may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy to provide the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy to other systems of the vehicle. Further, the transmission may include a gearbox, differential, drive shaft, clutch, and the like.

The sensor system 803 may include a sensor that senses the environment surrounding the vehicle, a pressure sensor that senses whether a passenger is present on the seat, and the like. For example, a positioning system (which may be a global positioning system (global positioning system, GPS) system, but also a beidou system or other positioning system), a radar, a laser rangefinder, an inertial measurement unit (inertial measurement unit, IMU), and a camera. The positioning system may be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar may utilize radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing an object, the radar may be used to sense the speed and/or heading of the object, etc.

In order to detect environmental information, objects, and the like outside the vehicle, a camera or the like may be disposed at an appropriate position outside the vehicle. For example, to obtain an image of the environment of the vehicle side, the camera may be on a rear view mirror of the vehicle side. The camera may be a still or video camera.

The control system 804 may include software systems for implementing vehicle driving control, such as systems for analyzing the surrounding environment of the vehicle, systems for pre-tightening seat belts, systems for route planning, obstacle avoidance systems, vision systems for image analysis, etc. The control system 804 may also include hardware systems such as throttle, steering wheel systems, seat belt systems, airbag systems, and the like. Additionally, the control system 804 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.

Further, as described above, the control system 804 may further include a lane departure regulating device that determines whether the vehicle is in a normal lane change stage according to the navigation information by indicating that the vehicle is in a rapid lane change in the case of driving; and when the vehicle is determined to be in the normal lane change stage, allowing the vehicle to continue to rapidly change lanes.

In addition, the control system 804 may also interact with external sensors, other autopilots, other computer systems, or users through peripheral devices 805. Peripheral devices 805 may include a wireless communication system, an in-vehicle computer, a microphone, and/or a speaker.

In some embodiments, peripheral device 805 provides a means for a user of control system 804 to interact with a user interface. For example, the vehicle computer may provide information to a user of the vehicle. The user interface is also operable to receive user input from the vehicle computer. The vehicle-mounted computer can be operated through the touch screen. In other cases, the peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 804. Similarly, speakers may output audio to a user of the control system 804.

The wireless communication system may communicate wirelessly with one or more devices directly or via a communication network. For example, wireless communication systems may communicate with wireless local area networks (wireless local area network, WLAN) using cellular networks, wiFi, etc., and may also communicate directly with devices using infrared links, bluetooth, or ZigBee. Other wireless protocols, such as various autopilot communication systems, etc.

The power supply 806 may provide power to various components of the vehicle. The power source 806 may be a rechargeable lithium ion or lead acid battery.

Some or all of the functions to achieve lane departure regulation are controlled by a computer system 807. Computer system 807 can include at least one processor that executes instructions stored in a non-transitory computer readable medium, such as memory. Computer system 807 provides the control system with code for implementing lane departure regulation.

The processor may be any conventional processor, such as a commercially available central processing unit (central processing unit, CPU). Alternatively, the processor may be a special purpose device such as an Application Specific Integrated Circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

A user interface 808 for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 808 may include one or more input/output devices within the set of peripheral devices 805, such as a wireless communication system, a vehicle computer, a microphone, and a speaker.

The lane departure warning system 809 can prevent the vehicle from changing lanes by coordinating the components included in the control system 804 and the components included in the driving control system 801 when the lane departure warning system 809 receives the schedule of the lane departure regulating device included in the control system 804, so that the vehicle keeps running in one lane. The lane departure warning system 809 can also interact with the peripheral device 805 through an interface, so that the peripheral device 805 plays a prompt message of an abnormal lane change of the vehicle, and the like.

It should be understood that the above components are merely examples, and in practical applications, components in the above modules or systems may be added or deleted according to actual needs, and fig. 8 should not be construed as limiting the embodiments of the present application.

Referring now to FIG. 9, a schematic diagram of a computer system 900 implementing a lane departure regulation method or apparatus suitable for use in implementing embodiments of the present invention is shown. The computer system shown in fig. 9 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

As shown in fig. 9, the computer system 900 includes a Central Processing Unit (CPU) 901, which can execute various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 902 or a program loaded from a storage section 908 into a Random Access Memory (RAM) 903. In the RAM903, various programs and data necessary for the operation of the system 900 are also stored. The CPU901, ROM902, and RAM903 are connected to each other through a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.

The following components are connected to the I/O interface 905: includes an input portion 906; an output portion 907 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage portion 908 including a hard disk or the like; and a communication section 909 including a network interface card such as a LAN card, a modem, or the like. The communication section 909 performs communication processing via a network such as the internet. The drive 910 is also connected to the I/O interface 905 as needed. A removable medium 911 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 910 so that a computer program read out therefrom is installed into the storage section 908 as needed.

In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 909 and/or installed from the removable medium 911. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 901.

The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes an interaction module, an information processing module, and a scheduling module. The names of these modules or units do not limit the modules or units themselves in some cases, and for example, the interactive unit may also be described as "a module or unit that acquires navigation information of a vehicle in real time and monitors the driving situation of the vehicle".

As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: acquiring navigation information of a vehicle in real time, and monitoring the running condition of the vehicle; under the condition that the driving condition indicates that the vehicle is in a rapid lane change, determining whether the vehicle is in a normal lane change stage according to the navigation information; when the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes; and when the vehicle is determined to be in the abnormal lane change stage, calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning.

According to the technical scheme of the embodiment of the invention, in the rapid lane change process of the vehicle, whether the vehicle is in the normal lane change stage or the abnormal lane change stage is determined, so that the driver is determined to normally operate the rapid lane change in the normal lane change stage, lane departure intervention is not carried out on the vehicle, lane change is allowed, and the lane departure warning system can be called when the vehicle is in the abnormal lane change stage, so that the lane departure warning system carries out lane departure warning, abnormal lane change of the vehicle is avoided, and riding experience of passengers is improved.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A lane departure regulation method, comprising:

acquiring navigation information of a vehicle in real time, and monitoring the running condition of the vehicle;

determining whether the vehicle is in a normal lane change stage according to the navigation information under the condition that the driving condition indicates that the vehicle is in an abrupt lane change;

When the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes;

And when the vehicle is determined to be in an abnormal lane change stage, calling a lane departure warning system to enable the lane departure warning system to perform lane departure warning.

2. The lane departure regulating method according to claim 1, wherein,

Further comprises: the system is in communication connection with a vehicle-mounted system;

the real-time acquisition of the navigation information of the vehicle comprises the following steps:

and acquiring navigation information of the vehicle in real time through the vehicle-mounted system.

3. The lane departure regulating method according to claim 2, wherein the acquiring navigation information of the vehicle in real time by the vehicle-to-machine system comprises:

The method comprises the steps that the vehicle-mounted system is connected with a peripheral terminal, and navigation information provided by the peripheral terminal is obtained through the vehicle-mounted system;

Or alternatively

Directly acquiring navigation information from the vehicle-mounted system;

Or alternatively

And receiving navigation information which is sent by the vehicle-mounted system and contains the lane changing signal.

4. The lane departure regulating method according to claim 1, wherein the determining whether the vehicle is in a normal lane-change stage comprises:

and taking the moment when the vehicle starts to rapidly change the track as a base point, and determining that the vehicle is in an abnormal track changing stage if navigation information containing a track changing signal is not acquired in a set period before the base point.

5. The lane departure conditioning method according to claim 4 wherein the determining whether the vehicle is in a normal lane change phase further comprises:

Judging whether the lane change signal is consistent with the lane change track of the vehicle or not under the condition that navigation information containing the lane change signal is acquired in a set period before the base point, and if so, determining that the vehicle is in a normal lane change stage; otherwise, determining that the vehicle is in an abnormal lane change phase.

6. The lane departure regulating method according to claim 1, wherein after determining that the vehicle is in a normal lane-change phase, before said allowing the vehicle to continue the rapid lane-change, further comprising:

judging whether the vehicle is in a safe lane change road section according to the road conditions around the vehicle;

Allowing the vehicle to continue to rapidly change the road when judging that the vehicle is in a safe road change section;

and calling the lane departure warning system to make the lane departure warning system perform lane departure warning when the condition that the vehicle is not in the safety change road section is judged.

7. The lane departure regulating method according to claim 1, wherein the rapid lane change comprises:

the steering wheel rotation rate exceeds a preset rotation rate threshold;

and/or the number of the groups of groups,

The wheel deflection angle of the vehicle exceeds a preset angle threshold and the driver is in a normal driving state.

8. A lane departure regulating apparatus, comprising: the system comprises an interaction module, an information processing module and a scheduling module, wherein,

The interaction module is used for acquiring navigation information of the vehicle in real time and monitoring the running condition of the vehicle;

The information processing module is used for determining whether the vehicle is in a normal lane change stage according to the navigation information under the condition that the driving condition indicates that the vehicle is in an abrupt lane change; when the vehicle is determined to be in a normal lane change stage, allowing the vehicle to continue to rapidly change lanes; triggering the scheduling module when the vehicle is determined to be in an abnormal lane change stage;

And the scheduling module is used for calling a lane departure warning system under the condition that the information processing module is triggered, so that the lane departure warning system carries out lane departure warning.

9. A lane departure regulation system comprising: the lane departure warning system and the lane departure regulating and controlling apparatus as claimed in claim 8, wherein,

The lane departure warning system is used for warning the lane departure of the vehicle under the condition that the call of the lane departure regulating device is received.

10. A vehicle, characterized by comprising: the lane departure regulation system of claim 9.