TWI795832B - Method and system for lane departure warning - Google Patents

Abstract

A lane departure warning method is implemented by a departure warning system disposed at a vehicle. The lane departure warning method includes: after determining that the operation manner of the vehicle conforms to a lane changing condition, the lane departure warning system determines whether the rotation of a steering wheel of the vehicle conforms to a position recovery condition corresponding to the lane changing condition after the lane changing condition is conformed. If the determining is negative, the lane departure warning system outputs a warning notification. If the determining is affirmative, the lane departure warning system does not output the warning notification.

Description

Lane departure warning method and system

The invention relates to a warning method, in particular to a lane departure warning method suitable for vehicles. The invention also relates to a lane departure warning system for implementing the lane departure warning method.

With the development of technology, the active safety equipment equipped on vehicles is becoming more and more diversified. For example, the "lane departure warning system" can detect the relative position of the vehicle and the lane, and when the vehicle's driving trajectory deviates from the lane A warning is issued to remind the driver to avoid accidents caused by the driver's inattention during driving.

However, due to changing road conditions, drivers sometimes have to change lanes temporarily, or may be forced to press onto the lane line because the road is too narrow, which will trigger the existing lane departure warning system to issue a warning, and if a similar situation occurs If the frequency is too high, it will cause interference to the driver. Therefore, there is still room for improvement in the prior art.

Therefore, one of the objects of the present invention is to provide an improved An inconvenient lane departure warning method in the prior art.

The lane departure warning method of the present invention is implemented by a lane departure warning system, the lane departure warning system is suitable for being installed on a vehicle with a steering wheel, and the lane departure warning method includes: the lane departure warning system judges After finding out that the operation mode of the vehicle meets a lane change condition, it is determined whether the rotation of the steering wheel meets the reset condition for the lane change condition after the lane change condition is met. If the lane departure warning system determines that the steering wheel is If the turning situation does not meet the reset condition, the lane departure warning system outputs a warning notification. If the lane departure warning system determines that the steering wheel rotation meets the reset condition, the lane departure warning system does not output the warning notification.

In some implementation aspects of the lane departure warning method of the present invention, the reset condition includes turning the steering wheel to a straight-going state for moving the vehicle in a straight-going manner within a reset period after the lane change condition is met .

In some implementation aspects of the lane departure warning method of the present invention, the lane change condition includes that a rotation angle of the steering wheel in a first rotation direction exceeds an angle threshold, and the reset condition includes that the steering wheel should be reset During the period, it rotates toward a second rotation direction opposite to the first rotation direction to the straight-ahead state.

In some implementation aspects of the lane departure warning method of the present invention, the time length of the reset period is dynamically determined by the lane departure warning system according to the driving speed of the vehicle.

In some implementation aspects of the lane departure warning method of the present invention, the lane departure warning system also generates a dynamic image data showing the steering wheel, and the lane departure warning system judges the Whether the rotation of the steering wheel meets the reset condition.

In some implementation aspects of the lane departure warning method of the present invention, the lane departure warning system includes a motion sensing unit adapted to be arranged on the steering wheel, and the lane departure warning system is based on a motion sensor The motion sensing data generated by the detection unit is used to determine whether the rotation of the steering wheel meets the reset condition.

Another object of the present invention is to provide a lane departure warning system capable of implementing the lane departure warning method.

The lane departure warning system of the present invention is suitable for setting on a vehicle with a steering wheel, and the lane departure warning system includes an output unit and a processing unit electrically connected to the output unit. Wherein, after the processing unit judges that the operation mode of the vehicle meets a lane change condition, it judges whether the rotation of the steering wheel meets a reset condition for the lane change condition after the lane change condition is met, if the processing unit judges If the rotation of the steering wheel does not meet the reset condition, the processing unit controls the output unit to output a warning notification; if the processing unit determines that the rotation of the steering wheel meets the reset condition, the processing unit does not control the output unit to output the Alert notification.

In some implementation aspects of the lane departure warning system of the present invention, the complex The position condition includes that the steering wheel is turned to a straight-going state for moving the vehicle in a straight-going manner within a period of reset after the lane change condition is met.

In some implementation aspects of the lane departure warning system of the present invention, the lane change condition includes that a rotation angle of the steering wheel in a first rotation direction exceeds an angle threshold, and the reset condition includes that the steering wheel should be reset During the period, it rotates toward a second rotation direction opposite to the first rotation direction to the straight-ahead state.

In some implementation aspects of the lane departure warning system of the present invention, the time length of the reset period is dynamically determined by the processing unit according to the driving speed of the vehicle.

In some implementation aspects of the lane departure warning system of the present invention, the lane departure warning system further includes a photographing unit electrically connected to the processing unit, wherein the photographing unit is used to generate a dynamic image data showing the steering wheel , and the processing unit judges whether the rotation of the steering wheel meets the reset condition according to the dynamic image data.

In some implementation aspects of the lane departure warning system of the present invention, the lane departure warning system further includes an activity sensing unit electrically connected to the processing unit and adapted to be arranged on the steering wheel, wherein the processing unit is based on a Whether the rotation of the steering wheel meets the reset condition is judged based on the motion sensing data generated by the motion sensing unit.

The effect of the present invention is: the lane departure warning system will only The warning notification will only be output when the operation mode of the vehicle meets the lane change condition, but the steering wheel rotation does not meet the reset condition. Therefore, the lane departure warning system can maintain the lane departure warning function. Under the premise, unnecessary warnings can be effectively reduced to avoid interference to drivers and passengers, and the inconvenience of the prior art can be effectively improved.

1: Lane departure warning system

11: Shooting unit

111: The first shooting device

112: Second shooting device

12: Output unit

13: Processing unit

14: Activity sensing unit

5: Vehicle

51: steering wheel

S1~S5: steps

Other features and functions of the present invention will be clearly presented in the implementation manner with reference to the drawings, wherein: FIG. 1 is a schematic block diagram of a first embodiment of the lane departure warning system of the present invention applied to a vehicle; Fig. 2 is a flow chart, is used to illustrate how this first embodiment implements a lane deviation warning method; And Fig. 3 is a second embodiment of the lane deviation warning system of the present invention being applied to the vehicle A block diagram.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numerals. And, unless otherwise defined, the "electrical connection" mentioned in this patent specification generally refers to multiple electronic devices/devices/elements The "wired electrical connection" realized by connecting components to each other through conductive materials, and the "radio connection" for one-way/two-way wireless signal transmission through wireless communication technology. Further, if not specifically defined, the "electrical connection" mentioned in this patent specification also generally refers to the "direct electrical connection" formed by direct connection between multiple electronic devices/devices/components, and the "direct electrical connection" between multiple electronic devices The "indirect electrical connection" formed between /devices/components is also indirectly connected to each other through other electronic equipment/devices/components.

Referring to Fig. 1, a first embodiment of the lane departure warning system 1 of the present invention is suitable for being arranged on a vehicle 5 with a steering wheel 51, and the lane departure warning system 1 includes, for example, a photographing unit 11, an output unit 12, and a processing unit 13 electrically connected to the photographing unit 11 and the output unit 12.

In this embodiment, the photographing unit 11 includes, for example, two photographing devices electrically connected to the processing unit 13, and the two photographing devices are, for example, respectively used as a first photographing device 111 and a second photographing device in this embodiment. 112. More specifically, in this embodiment, the first photographing device 111 is, for example, adapted to be set in the seating space of the vehicle 5 (such as directly above or obliquely above the driver's seat) in a manner facing the steering wheel 51 of the vehicle 5 . ), so that the steering wheel 51 of the vehicle 5 is always within the shooting range of the first shooting device 111 . On the other hand, the second photographing device 112 is for example adapted to be set on the vehicle 5 towards the front of the vehicle 5, so that the ground environment in front of the vehicle 5 is always within the photographing range of the second photographing device 112 , but not limited to this.

It is supplemented that, in other embodiments, the photographing unit 11 is also It may, for example, only include a single photographing device capable of photographing the steering wheel 51 of the vehicle 5 and the ground environment in front of it at the same time, or, the photographing unit 11 may also, for example, include more than three photographing devices, and one of the photographing devices One is, for example, used to take pictures towards the steering wheel 51 of the vehicle 5 , and the other several of the shooting devices are used to take pictures in different directions of the vehicle 5 , for example. It should be understood that the number of these photographing devices and the positions arranged on the vehicle 5 can be freely adjusted according to the type, volume and appearance of the vehicle 5. Generally speaking, as long as the photographing unit 11 can photograph The steering wheel 51 of the vehicle 5 and the ground environment where the vehicle 5 is located (which can be the ground in front of, behind or below the vehicle 5) can be implemented. Therefore, the actual implementation of the shooting unit 11 is not based on this embodiment. limit.

The output unit 12 includes, for example, a speaker in this embodiment; however, in other embodiments, the output unit 12 may also include, for example, the speaker, a display, and a vibrator suitable for being arranged in the steering wheel 51 One or more devices, therefore, the actual implementation of the output unit 12 is not limited to this embodiment.

In this embodiment, the processing unit 13 may include, for example, a central processing unit disposed on the vehicle 5, and the processing unit 13 is, for example, electrically connected to a vehicle computer (not shown) that the vehicle 5 has, by Here, the processing unit 13 can, for example, communicate with the trip computer of the vehicle 5 to obtain the operating parameters of the vehicle 5 (such as the driving speed) from the trip computer, but it is not limited thereto.

It is supplemented that, in this embodiment, the lane departure warning system 1 For example, it is independently manufactured and sold separately from the vehicle 5 , and is added to the vehicle 5 after the vehicle 5 leaves the factory. However, in other embodiments, the lane departure warning system 1 can also be built into the vehicle 5 before the vehicle 5 leaves the factory, and the processing unit 13 of the lane departure warning system 1 can also be For example, it is implemented as the trip computer of the vehicle 5 itself, or a part of the trip computer of the vehicle 5 , therefore, the actual implementation of the lane departure warning system 1 is not limited to this embodiment.

It should be added that the implementations of the photographing unit 11 , the output unit 12 and the processing unit 13 in this embodiment are only exemplary and not intended to limit the scope of the present invention.

Referring to FIG. 1 and FIG. 2 at the same time, how the lane departure warning system 1 of this embodiment implements a lane departure warning method during the running of the vehicle 5 will be described in detail below.

Firstly, in step S1 , the processing unit 13 obtains, for example, two dynamic image data that are constantly updated in real time from the shooting unit 11 . In more detail, in this embodiment, the two dynamic image data are, for example, a first dynamic image data generated by video recording by the first camera device 111 and a video data generated by the second camera device 112. The generated second dynamic image data, and the first photographing device 111 and the second photographing device 112 are controlled by the processing unit 13 to continuously record video while the vehicle 5 is running, for example. Further, since the first camera 111 is used to shoot towards the steering wheel 51 of the vehicle 5 in this embodiment, so the first dynamic image data will at least present the steering wheel 51 of the vehicle 5, on the other hand, because the second shooting device 112 is in the In this embodiment, it is used to shoot towards the front of the vehicle 5 , so the second dynamic image data, for example, at least presents the ground environment in front of the vehicle 5 . But not limited to this.

When the processing unit 13 continues to receive the first dynamic image data and the second dynamic image data from the first camera device 111 and the second camera device 112 respectively, the process proceeds to step S2.

In step S2, the processing unit 13 judges whether the operation mode of the vehicle 5 meets a lane change condition, for example, according to the first dynamic image data and the second dynamic image data. In this embodiment, the lane change condition includes, for example, that the steering wheel 51 rotates toward a first rotation direction with a rotation angle exceeding an angle threshold, and also includes that the vehicle body of the vehicle 5 has crossed the lane where the vehicle 5 is currently located. A left border or a right border. In other words, in this embodiment, when the rotation angle of the steering wheel 51 in the first rotation direction exceeds the angle threshold value, and the vehicle body of the vehicle 5 has also crossed the left or right boundary of the current lane, the The processing unit 13 then determines that the operation of the vehicle 5 meets the lane change condition, but not limited thereto.

More specifically, the first rotation direction is one of the clockwise direction and the counterclockwise direction, and the angle threshold is determined by the processing unit 13 according to the current driving speed of the vehicle 5 in this embodiment, for example. determined dynamically, and the angle The threshold value is negatively correlated with the current driving speed of the vehicle 5 . In other words, the slower the current running speed of the vehicle 5 is, the greater the value of the angle threshold determined by the processing unit 13 is, and the faster the current running speed of the vehicle 5 is, the greater the angle threshold value determined by the processing unit 13 is. The smaller the value of the angle threshold value is, but it is not limited thereto.

It is further explained that, in this embodiment, the processing unit 13, for example, recognizes the steering wheel 51 from the first dynamic image data, and uses at least one radial rib of the steering wheel 51 as a feature point for image recognition to identify The direction and angle at which the steering wheel 51 is turned is judged, but not limited thereto. On the other hand, the processing unit 13, for example, recognizes the left and right lane markings of the lane where the vehicle 5 is currently located from the second dynamic image data, and defines the left/right boundary of the lane according to the two lane markings , and then judge whether the body of the vehicle 5 has crossed the left/right boundary of the current lane. It is supplemented that, in this embodiment, the processing unit 13 may, for example, utilize a neural network pre-trained with machine learning techniques to realize image recognition for the first moving image data and the second moving image data, However, since the image recognition method of the processing unit 13 is not the technical focus of this patent specification, it will not be described in detail here.

Therefore, if the processing unit 13 determines that the lane change condition is met, it means that the driver of the vehicle 5 turns the steering wheel 51 and makes the vehicle 5 start to leave the current lane.

If the processing unit 13 judges that the operation mode of the vehicle 5 does not comply with For the lane change condition, the flow starts from step S2 again after a predetermined period, for example. On the other hand, if the processing unit 13 determines that the operation of the vehicle 5 complies with the lane change condition, the process proceeds to step S3.

In step S3, once the processing unit 13 determines that the operation of the vehicle 5 conforms to the lane change condition, the processing unit 13 then judges whether the steering wheel 51 is turning in the lane change according to the first dynamic image data, for example. After the condition is met, a pair of reset conditions for the lane change condition is met. Moreover, in this embodiment, the reset condition includes, for example, that the steering wheel 51 rotates toward a second rotation direction to a straight-going state that allows the vehicle 5 to move in a straight-going manner within a period of time to be reset after the lane change condition is satisfied. .

More specifically, the second rotation direction is opposite to the first rotation direction, so if the first rotation direction is clockwise, the second rotation direction is counterclockwise, and if the first rotation direction If the rotation direction is counterclockwise, then the second rotation direction is clockwise.

On the other hand, the straight state represents the state in which the steering wheel 51 is roughly “turned straight”. Forward and backward positions. It is particularly noted that, in an actual implementation, if the angle of the steering wheel that enables the vehicle 5 to go straight is defined as 0 degrees, then the straight state described in this embodiment may, for example, represent that the angle of the steering wheel 51 is at within an angular range covering 0 degrees (eg -5 degrees to +5 degrees), but not limited thereto.

On the other hand, the reset period is, for example, counted from when the processing unit 13 determines that the lane change condition is met, and, in this embodiment, the time length of the reset period is determined by the processing unit 13 according to the vehicle The current driving speed of the vehicle 5 is dynamically determined, and the time length of the reset period is negatively correlated with the current driving speed of the vehicle 5 . In other words, the slower the current running speed of the vehicle 5 is, the longer the time length of the reset period determined by the processing unit 13 will be, and if the current running speed of the vehicle 5 is faster, the processing unit 13 will determine The shorter the time length of the reset period should be, but it is not limited thereto.

Therefore, if the processing unit 13 judges that the reset condition is met after the lane change condition is met, it means that the driver of the vehicle 5 turns the steering wheel 51 so that the vehicle 5 leaves the original lane, and then resets when the lane change condition is met. Before the end of the period, the steering wheel 51 is returned to the opposite direction, so that the vehicle 5 resumes moving in a straight-ahead manner.

If the processing unit 13 determines that the rotation of the steering wheel 51 does not meet the reset condition, the process proceeds to step S4. On the other hand, if the processing unit 13 determines that the rotation of the steering wheel 51 meets the reset condition, the process proceeds to step S5.

In step S4, once the processing unit 13 determines that the rotation of the steering wheel 51 does not meet the reset condition, the processing unit 13 controls the output unit 12 to output a warning notification, thereby reminding the driver of the current driving of the vehicle 5 way offset Driveway concerns. In this embodiment, the warning notification can be implemented as a warning sound, however, in other embodiments, the warning notification can also be implemented as a warning sound, a light signal, a warning message that can be displayed on a display, and One or more of the vibrations are not limited to this embodiment.

In step S5, once the processing unit 13 judges that the rotation of the steering wheel 51 meets the reset condition, the processing unit 13 does not control the output unit 12 to output any warning notification, and the process starts again from step S2.

The above is an illustration of how the lane departure warning system 1 of this embodiment implements the lane departure warning method.

By implementing the lane departure warning method, the lane departure warning system 1 will only change the lane of the vehicle 5 when the driver turns the steering wheel 51, but "fails" to return the steering wheel 51 to the normal position within the reset period. In this case, the warning notification will be output, that is to say, the lane departure warning system 1 will not output the warning notification when the driver turns the steering wheel 51 to make the vehicle 5 just cross the lane marking. Thereby, the lane departure warning system 1 of this embodiment can effectively reduce unnecessary warnings on the premise of maintaining the lane departure warning function, so as to avoid causing disturbance to the driver and passengers.

It should be understood that steps S1 to S5 in this embodiment and the flow chart in FIG. 2 are only used to illustrate one possible implementation of the lane departure warning method, and even if steps S1 to S5 are combined , splitting or order adjustment, if the equal effect with this embodiment can be achieved, it still belongs to the lane deviation warning method of the present invention Therefore, the steps S1 to S5 of this embodiment and the flow chart in FIG. 2 are not intended to limit the scope of the present invention.

Referring to FIG. 3 together with FIG. 2 , the present invention also provides a second embodiment of the lane departure warning system 1 . Different from the first embodiment, in the second embodiment, the imaging unit 11 of the lane departure warning system 1 is, for example, implemented as a single imaging device, and the imaging device is, for example, used to photograph where the vehicle 5 is located. The ground environment, that is to say, the arrangement and function of the camera is similar to the second camera 112 (shown in FIG. 1 ) in the first embodiment.

On the other hand, in the second embodiment, the lane departure warning system 1 further includes an activity sensing unit 14 electrically connected to the processing unit 13, and the activity sensing unit 14 is suitable for being arranged on the steering wheel of the vehicle 5 51, and can be driven by the steering wheel 51 to move. In more detail, the activity sensing unit 14 can be implemented, for example, as a gyroscope, an accelerometer or a combination of both, and the activity sensing unit 14 can be controlled by the processing unit 13 to generate a real-time update The motion sensing data, wherein, the motion sensing data indicates, for example, the activity direction and angle of the motion sensing unit 14 itself in three-dimensional space, therefore, the motion sensing data is equivalent to indicating that the steering wheel 51 is turned direction and angle.

Further, in the lane departure warning method implemented in the second embodiment, different from the first embodiment, the processing unit 13 will continue to receive 14 receiving the motion sensing data, and, In step S3 of the second embodiment, the processing unit 13 detects the rotation of the steering wheel 51 according to the motion sensing data generated by the activity sensing unit 14, thereby judging whether the rotation of the steering wheel 51 is meet the reset condition.

The above is the description of the second embodiment of the lane departure warning system 1 of the present invention.

In summary, by implementing the lane departure warning method, the lane departure warning system 1 can effectively reduce unnecessary warnings while retaining the lane departure warning function, so as to avoid causing disturbance to drivers and passengers. Really can reach the purpose of the present invention.

But what is described above is only an embodiment of the present invention, and should not limit the scope of the present invention. All simple equivalent changes and modifications made according to the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of the present invention.

S1~S5·····································

Claims (12)

A lane departure warning method is implemented by a lane departure warning system, the lane departure warning system is suitable for being installed on a vehicle with a steering wheel, and the lane departure warning method includes: the lane departure warning system judges After finding out that the operation mode of the vehicle meets a lane change condition, it is determined whether the rotation of the steering wheel meets the reset condition for the lane change condition after the lane change condition is met. If the lane departure warning system determines that the steering wheel is If the turning situation does not meet the reset condition, the lane departure warning system outputs a warning notification; if the lane departure warning system determines that the steering wheel rotation meets the reset condition, the lane departure warning system does not output the warning notification, Wherein, the lane change condition includes that a rotation angle of the steering wheel in a first rotation direction exceeds an angle threshold, the angle threshold is dynamically determined by the processing unit according to the current driving speed of the vehicle, and the angle threshold The value is inversely related to the vehicle's current travel speed. The lane departure warning method according to claim 1, wherein the reset condition includes turning the steering wheel to a straight-going state for moving the vehicle in a straight-going manner within a reset period after the lane change condition is met . The lane departure warning method according to claim 2, wherein the resetting condition includes that the steering wheel rotates in a second rotation direction opposite to the first rotation direction to the straight-ahead state within the reset period. The lane departure warning method as described in claim 2, wherein the time length of the reset period is determined by the lane departure warning system according to the vehicle's Dynamically determined by the driving speed. The lane departure warning method according to claim 1, wherein the lane departure warning system also generates a dynamic image data showing the steering wheel, and the lane departure warning system judges the steering wheel according to the dynamic image data Whether the rotation of the steering wheel meets the reset condition. The lane departure warning method as claimed in claim 1, wherein the lane departure warning system includes a motion sensing unit adapted to be arranged on the steering wheel, and the lane departure warning system is based on a motion sensor The motion sensing data generated by the detection unit is used to determine whether the rotation of the steering wheel meets the reset condition. A lane departure warning system is suitable for being installed on a vehicle with a steering wheel, and the lane departure warning system includes: an output unit; and a processing unit electrically connected to the output unit, wherein the processing unit judges that After the operation mode of the vehicle meets a lane change condition, it is judged whether the rotation of the steering wheel meets the reset condition of the lane change condition after the lane change condition is met, if the processing unit determines that the rotation of the steering wheel does not meet The reset condition, the processing unit controls the output unit to output a warning notification, if the processing unit judges that the steering wheel rotation meets the reset condition, the processing unit does not control the output unit to output the warning notification, wherein the lane change The condition includes that a rotation angle of the steering wheel toward a first rotation direction exceeds an angle threshold value, the angle threshold value is dynamically determined by the processing unit according to the current driving speed of the vehicle, and the angle threshold value is consistent with the vehicle's current line Speed is negatively correlated. The lane departure warning system according to claim 7, wherein the reset condition includes turning the steering wheel to a straight-going state for moving the vehicle in a straight-going manner within a reset period after the lane change condition is met . The lane departure warning system as claimed in claim 8, wherein the reset condition includes that the steering wheel rotates in a second rotation direction opposite to the first rotation direction to the straight-ahead state within the reset period. The lane departure warning system as claimed in claim 8, wherein the time length of the reset period is dynamically determined by the processing unit according to the driving speed of the vehicle. The lane departure warning system as described in claim 7, further comprising a photographing unit electrically connected to the processing unit, wherein the photographing unit is used to generate a dynamic image data showing the steering wheel, and the processing unit is based on the The dynamic image data is used to determine whether the rotation of the steering wheel meets the reset condition. The lane departure warning system according to claim 7, further comprising an activity sensing unit electrically connected to the processing unit and adapted to be arranged on the steering wheel, wherein the processing unit is based on a motion sensor generated by the activity sensing unit It is judged whether the rotation of the steering wheel meets the reset condition based on the motion sensing data.

Images