WO2018068482A1 - Lane-keeping method and device - Google Patents
Lane-keeping method and device Download PDFInfo
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- WO2018068482A1 WO2018068482A1 PCT/CN2017/079221 CN2017079221W WO2018068482A1 WO 2018068482 A1 WO2018068482 A1 WO 2018068482A1 CN 2017079221 W CN2017079221 W CN 2017079221W WO 2018068482 A1 WO2018068482 A1 WO 2018068482A1
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- Prior art keywords
- lane
- vehicle
- line
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- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001133 acceleration Effects 0.000 claims abstract description 102
- 238000010191 image analysis Methods 0.000 claims abstract description 9
- 230000003447 ipsilateral effect Effects 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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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
- 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
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to the field of traffic technologies, and in particular, to a lane keeping method and apparatus.
- the lane keeping system is generally based on the recognition of the lane line by the camera, and then calculates the approach speed of the body and the lane line, and finally determines whether to cross the line.
- the information obtained in this way is not accurate, and the driver is not focused when driving fatigue, and it is easy to cause the vehicle to deviate from the lane and cause a traffic accident.
- the main object of the present invention is to provide a lane keeping method and apparatus, which aim to ensure that the vehicle travels in a prescribed lane and reminds the user when the vehicle deviates from the lane, thereby improving driving safety.
- the present invention provides a method for assisting in changing lanes, including:
- Parsing image information of the lane to obtain position information of a lane line of the lane;
- Determining whether the vehicle deviates from the lane by combining location information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle;
- the step of determining, by the location information of the lane line of the lane, the location information of the vehicle, and the acceleration information of the vehicle, whether the vehicle generates a lane offset comprises:
- the step of acquiring the image information of the lane in which the vehicle is located further includes:
- the offset threshold b of one side of the vehicle and the same side lane line is preset in accordance with the empirical value.
- the offset a of the one side of the vehicle and the same side lane line is compared with a preset threshold value b of the side of the vehicle and the same side lane line, according to the comparison result.
- the steps to determine if the vehicle is off track are:
- the step of parsing the image information of the lane to obtain the location information of the lane line of the lane further includes:
- Parsing the image information of the lane to obtain category information of the lane line of the lane includes information that the lane line is a solid line, a double solid line or a broken line;
- the step of prompting the user to deviate from the lane further includes:
- the user is prompted to correct the direction of travel of the vehicle.
- the user is prompted whether the lane needs to be changed.
- the invention also provides a lane keeping device comprising:
- a lane image acquisition module configured to acquire image information of a lane in which the vehicle is located
- An image analysis module configured to parse image information of the lane to obtain position information of a lane line of the lane
- a vehicle information acquisition module configured to acquire location information of the vehicle by using a GPS, and acquire acceleration information of the vehicle by using an acceleration sensor;
- a determining module configured to determine, according to position information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle, whether the vehicle deviates from the lane;
- the prompting module is configured to prompt the user to deviate from the lane when the determining module determines that the vehicle deviates from the lane.
- the determining module comprises:
- a calculating unit configured to calculate an offset a of the side of the vehicle and the same side lane line in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
- a matching unit configured to compare the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line, wherein the offset threshold b is set according to an empirical value ;
- a judging unit configured to judge, according to the comparison result, whether the vehicle deviates from the lane.
- the lane keeping device further includes a preset module configured to preset an offset threshold b of one side of the vehicle and the same side lane line according to an empirical value.
- the determining unit is further configured to:
- the image parsing module is further configured to:
- Parsing the image information of the lane to obtain category information of the lane line of the lane includes information that the lane line is a solid line, a double solid line or a broken line;
- the prompt module is further configured to:
- the user is prompted to correct the direction of travel of the vehicle.
- the user is prompted whether the lane needs to be changed.
- a lane keeping method and apparatus obtains image information of a lane in which a vehicle is located; analyzes image information of the lane to obtain position information of a lane line of the lane; and acquires position information of the vehicle by using GPS Obtaining acceleration information of the vehicle by using an acceleration sensor; determining location of the lane line information of the lane, location information of the vehicle, and acceleration information of the vehicle whether the vehicle deviates from the lane; if yes, prompting the user to deviate from the lane, thereby
- the vehicle is guaranteed to travel in the prescribed lane, which improves the accuracy of lane keeping, and also improves driving safety and enhances the user experience.
- FIG. 1 is a schematic flow chart of a preferred embodiment of a lane keeping method of the present invention
- step S4 is a schematic diagram showing the refinement process of step S4 in the lane keeping method of the present invention
- FIG. 3 is a schematic diagram of functional modules of a preferred embodiment of the lane keeping device of the present invention.
- FIG. 4 is a schematic diagram of a refinement function module of the judging module in the lane keeping device of the present invention.
- the solution of the embodiment of the present invention is mainly: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle by using GPS, and adopting acceleration
- the sensor acquires acceleration information of the vehicle; determines positional information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle whether the vehicle deviates from the lane; if yes, prompts the user to deviate from the lane.
- FIG. 1 is a preferred embodiment of a lane keeping method provided by the present invention, where the method includes:
- Step S1 acquiring image information of a lane in which the vehicle is located
- an in-vehicle camera may be disposed on the vehicle, and an image of a lane in which the vehicle is located is captured by the in-vehicle camera to obtain image information of a lane in which the vehicle is located.
- Step S2 analyzing image information of the lane to obtain position information of the lane line of the lane;
- the obtained image information is analyzed and processed by image analysis technology or other methods to obtain the position information of the lane line of the lane in which the vehicle is located.
- Step S3 acquiring position information of the vehicle through GPS, and acquiring acceleration information of the vehicle through the acceleration sensor;
- Step S4 combined with the position information of the lane line of the lane, the position information of the vehicle and the acceleration information of the vehicle to determine whether the vehicle deviates from the lane; if yes, proceeds to step S5;
- step S5 the user is prompted to deviate from the lane.
- the acceleration direction and the acceleration magnitude of the vehicle can be accurately acquired by the acceleration sensor, and the driving direction and the speed of the vehicle can be determined according to the acceleration direction and the size, and the position information of the vehicle can be obtained according to the GPS positioning.
- the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle it is possible to accurately determine whether the vehicle deviates from the lane.
- the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A.
- Direction F ⁇ 1 and the angle C between the current traveling direction F ⁇ 1 and the same lane line.
- the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
- the user may be prompted to deviate from the lane by voice or on-board display, so that the user can intuitively understand even when the user's energy is dispersed. Driving conditions of the vehicle, thereby improving driving safety.
- the embodiment adopts the foregoing solution: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using the acceleration sensor; Determining whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, prompting the user to deviate from the lane; if not, the vehicle may not be prompted to ensure that the vehicle is driving in the prescribed lane Improves the accuracy of the lane to maintain the lane, improves driving safety and enhances the user experience.
- FIG. 2 is a schematic flow chart of the step S4 in the lane keeping method according to FIG.
- the step S4, determining the deviation of the vehicle from the lane by combining the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle may include:
- Step S401 combining the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle to calculate an offset a of one side of the vehicle and the same side lane line;
- the offset a can be represented by a distance parameter, or can be represented by an angle, or by a distance and an angle. This embodiment is exemplified by the distance and the angle.
- the acceleration direction and acceleration of the vehicle can be detected by the vehicle acceleration sensor. Then, according to the direction and size of the acceleration, the direction and speed of the vehicle can be judged.
- the driving direction of the vehicle is parallel to the lane line when driving safely in the lane.
- the driving direction of the vehicle forms a certain angle with the lane line.
- the position of the vehicle can be obtained by GPS positioning, and the distance between the vehicle and the lane line can be detected according to the position of the vehicle.
- the distance between the position of the vehicle and the lane line can be monitored. Constantly changing.
- the offset a of one side of the vehicle and the same side lane line can be obtained.
- Step S402 the offset amount a is compared with a preset threshold value b of one side of the vehicle and the same side lane line, wherein the offset threshold value b is set according to an empirical value;
- Step S403 judging whether the vehicle deviates from the lane according to the comparison result.
- the offset threshold b of one side of the vehicle and the same side lane line may be preset according to an empirical value. After obtaining the offset amount a of one side of the vehicle and the same side lane line by the above step S401, the offset amount a is compared with the preset offset amount threshold b, and if the comparison result is a>b, then It is judged that the vehicle deviates from the lane, and if the comparison result is a ⁇ b, it is judged that the vehicle does not deviate from the lane. This further improves the accuracy of determining whether the vehicle deviates from the lane, and improves the safety of the vehicle.
- the acceleration direction and the acceleration of the vehicle can be accurately obtained by the acceleration sensor, and the direction and speed of the vehicle can be determined according to the direction and magnitude of the acceleration, according to the GPS.
- the positioning can obtain the position information of the vehicle, and the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle can accurately determine whether the vehicle deviates from the lane.
- the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A.
- Direction F ⁇ 1 and the angle C between the current traveling direction F ⁇ 1 and the same lane line.
- the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
- the category information of the lane line can be obtained by analyzing and processing the image.
- the lane line is a solid line, a double solid line, or a broken line.
- the vehicle deviates from the lane, the user is reminded of different contents according to different lane lines. If the lane line is a solid line or a double solid line, it is prohibited to change the direction of the lane, and the user is prompted to correct the direction of travel of the vehicle. If the lane line is a dotted line or the like, the vehicle is allowed to change the lane marking, and the user is prompted to change the lane. In this way, the safety of the vehicle is further improved and the user experience is improved.
- the lane keeping method of the present invention adopts the above solution: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle through GPS, and transmitting acceleration
- the sensor acquires acceleration information of the vehicle; determines positional information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle to determine whether the vehicle deviates from the lane; if yes, prompts the user to deviate from the lane, thereby ensuring that the vehicle travels according to a prescribed lane.
- FIG. 3 is a preferred embodiment of a lane keeping device provided by the present invention, and the device includes: a lane image acquiring module 10 The image analysis module 20, the vehicle information acquisition module 30, the determination module 40, and the prompt module 50.
- the lane image acquiring module 10 is configured to acquire image information of a lane in which the vehicle is located;
- an in-vehicle camera may be disposed on the vehicle, and an image of a lane in which the vehicle is located is captured by the in-vehicle camera to obtain image information of a lane in which the vehicle is located.
- the image analysis module 20 is configured to analyze image information of the lane to obtain position information of the lane line of the lane;
- the image analysis module 20 analyzes the obtained image information by using image analysis technology or other methods to obtain position information of the lane line of the lane in which the vehicle is located.
- the vehicle information acquisition module 30 is configured to acquire location information of the vehicle by using GPS, and acquire acceleration information of the vehicle by using the acceleration sensor;
- the determining module 40 is configured to determine whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
- the prompting module 50 prompts the user to deviate from the lane.
- the acceleration direction and the acceleration magnitude of the vehicle can be accurately acquired by the acceleration sensor, and the driving direction and the speed of the vehicle can be determined according to the acceleration direction and the size, and the position information of the vehicle can be obtained according to the GPS positioning.
- the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle it is possible to accurately determine whether the vehicle deviates from the lane.
- the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A.
- Direction F ⁇ 1 and the angle C between the current traveling direction F ⁇ 1 and the same lane line.
- the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
- the user may be prompted to deviate from the lane by voice or on-board display, so that the user can intuitively understand even when the user's energy is dispersed. Driving conditions of the vehicle, thereby improving driving safety.
- the lane image acquisition module 10 acquires the image information of the lane in which the vehicle is located; the image analysis module 20 analyzes the image information of the lane to obtain the location information of the lane line of the lane; the vehicle information acquisition module 30 acquires the GPS information.
- the position information of the vehicle acquires acceleration information of the vehicle through the acceleration sensor; the determination module 40 determines whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, the prompting module 50 prompts the user of the vehicle Deviation from the lane ensures that the vehicle travels in the prescribed lane, which improves the accuracy of lane keeping, improves driving safety and enhances the user experience.
- FIG. 4 is a schematic diagram of a refinement function module of the determination module 40 in the lane keeping device according to FIG.
- the foregoing determining module 40 includes a calculating unit 401, a comparing unit 402, and a determining unit 403.
- the calculating unit 401 is configured to calculate the offset amount a of one side of the vehicle and the same side lane line in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
- the offset a can be represented by a distance parameter, or can be represented by an angle, or by a distance and an angle. This embodiment is exemplified by the distance and the angle.
- the acceleration information, direction and acceleration of the vehicle can be detected by the vehicle acceleration sensor. Then, according to the direction and size of the acceleration, the direction and speed of the vehicle can be judged.
- the driving direction of the vehicle is parallel to the lane line when driving safely in the lane.
- the driving direction of the vehicle forms a certain angle with the lane line.
- the position of the vehicle can be obtained by GPS positioning, and the distance between the vehicle and the lane line can be detected according to the position of the vehicle.
- the distance between the position of the vehicle and the lane line can be monitored. Constantly changing.
- the offset a of one side of the vehicle and the same side lane line can be obtained.
- the comparison unit 402 is configured to compare the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line, wherein the offset threshold b is set according to an empirical value.
- the judging unit 403 is configured to judge whether the vehicle deviates from the lane based on the comparison result.
- a preset module may be provided in the vehicle holding device for presetting the offset threshold b of one side of the vehicle and the same lane line based on the empirical value.
- the comparison unit 402 compares the offset amount a with the preset offset amount threshold b, if the comparison result is a>b, the judging unit 403 judges that the vehicle deviates from the lane, and if the comparison result is a ⁇ b, the judging unit 403 judges that the vehicle does not deviate from the lane. This further improves the accuracy of determining whether the vehicle deviates from the lane, and improves the safety of the vehicle.
- the acceleration direction and the acceleration of the vehicle can be accurately obtained by the acceleration sensor, and the direction and speed of the vehicle can be determined according to the direction and magnitude of the acceleration, according to the GPS.
- the positioning can obtain the position information of the vehicle, and the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle can accurately determine whether the vehicle deviates from the lane.
- the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A.
- Direction F ⁇ 1 and the angle C between the current traveling direction F ⁇ 1 and the same lane line.
- the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
- the image analyzing module 20 can obtain the lane by analyzing and processing the image in addition to the position information of the lane line.
- Category information of the line such as a lane line is a solid line, a double solid line, or a dotted line.
- the prompting module 50 prompts the user to correct the driving direction of the vehicle; if the lane line is a dotted line or the like, the prompting module 50 prompts the user whether the user is prompted to change the lane marking. Need to change lanes. In this way, the safety of the vehicle is further improved and the user experience is improved.
- the lane keeping device of the present invention obtains the image information of the lane in which the vehicle is located by the lane image acquiring module 10; the image analyzing module 20 analyzes the image information of the lane to obtain the position information of the lane line of the lane;
- the information acquiring module 30 acquires the position information of the vehicle through the GPS, and acquires the acceleration information of the vehicle through the acceleration sensor;
- the determining module 40 determines whether the vehicle deviates from the lane according to the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, Then, the prompting module 50 prompts the user to deviate from the lane, thereby ensuring that the vehicle runs in the prescribed lane, improves the accuracy of lane keeping, improves driving safety, and improves the user experience.
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Abstract
A lane-keeping device and a method thereof, the device comprises: a lane image obtaining module (10), an image analysis module (20), a vehicle information obtaining module (30), a determination module (40) and a notification module (50). The method comprises: obtaining image information of a lane where a vehicle is located; analyzing the image information of the lane to obtain location information of a lane line of the lane; obtaining location information of the vehicle by a GPS, and obtaining acceleration information of the vehicle by an acceleration sensor; combining the location information of the lane line of the lane, the location information of the vehicle, and the acceleration information of the vehicle to determine whether the vehicle has deviated from the lane; if so, then issuing a notification that the user's vehicle has deviated from the lane. The device and the method ensure that the vehicle travels on a prescribed lane, which improves lane-keeping accuracy and driving safety and enhances user experience.
Description
技术领域 Technical field
本发明涉及交通技术领域,尤其涉及一种车道保持方法及装置。The present invention relates to the field of traffic technologies, and in particular, to a lane keeping method and apparatus.
背景技术Background technique
随着经济和交通事业的不断发展,汽车已经成为人们不可或缺的交通工具。但随着汽车使用率的不断提高,交通事故率也呈现出逐年上升的趋势。据统计,在所有机动车事故中,由于车道偏离而造成的交通事故占所有交通事故的百分之二十,更严重的是,由于车道偏离而引起的交通事故死亡率占所有交通死亡率的百分之三十七。从这一数据可以看出,车道偏离事故已经严重影响了人们的生命财产安全。因此,近年来国内外许多研究机构开始致力于车道保持系统的研究。With the continuous development of the economy and transportation, automobiles have become an indispensable means of transportation for people. However, with the continuous improvement of the use rate of automobiles, the traffic accident rate has also shown an increasing trend year by year. According to statistics, in all motor vehicle accidents, traffic accidents caused by lane departures account for 20% of all traffic accidents. What is more serious is that traffic accidents caused by lane departures account for all traffic fatalities. Thirty-seven percent. It can be seen from this data that lane departure accidents have seriously affected people's lives and property. Therefore, in recent years, many research institutions at home and abroad have begun to study the lane keeping system.
目前,车道保持系统一般是基于摄像头对车道线的识别,再计算车身与车道线的接近速率,最后确定是否跨线。但如此所得到的信息并不准确,并且驾驶员在疲劳驾驶时,注意力不集中,容易造成车辆偏离车道,引发交通事故。At present, the lane keeping system is generally based on the recognition of the lane line by the camera, and then calculates the approach speed of the body and the lane line, and finally determines whether to cross the line. However, the information obtained in this way is not accurate, and the driver is not focused when driving fatigue, and it is easy to cause the vehicle to deviate from the lane and cause a traffic accident.
发明内容Summary of the invention
本发明的主要目的在于提供一种车道保持方法及装置,旨在保证车辆按规定车道行驶,并在车辆偏离车道时对用户进行提醒,提高驾驶安全性。The main object of the present invention is to provide a lane keeping method and apparatus, which aim to ensure that the vehicle travels in a prescribed lane and reminds the user when the vehicle deviates from the lane, thereby improving driving safety.
为了达到上述目的,本发明提出一种辅助变更车道的方法,包括:In order to achieve the above object, the present invention provides a method for assisting in changing lanes, including:
获取车辆所处车道的图像信息;Obtaining image information of the lane in which the vehicle is located;
对所述车道的图像信息进行解析,得到车道的车道线的位置信息;Parsing image information of the lane to obtain position information of a lane line of the lane;
通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;Acquiring location information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using an acceleration sensor;
结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;Determining whether the vehicle deviates from the lane by combining location information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle;
若是,则提示用户车辆偏离车道。If so, the user is prompted to deviate from the lane.
优选地,所述结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否产生车道偏移的步骤包括:Preferably, the step of determining, by the location information of the lane line of the lane, the location information of the vehicle, and the acceleration information of the vehicle, whether the vehicle generates a lane offset comprises:
结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算所述车辆的一侧与同侧车道线的偏移量a;Calculating an offset amount a of one side of the vehicle and the same side lane line in combination with position information of the lane line of the lane, position information of the vehicle, and acceleration information of the vehicle;
将所述偏移量a与预先设定的所述车辆的一侧与同侧车道线的偏移量阈值b进行比对,其中所述偏移量阈值b根据经验值设定;Comparing the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line, wherein the offset threshold b is set according to an empirical value;
根据比对结果判断所述车辆是否偏离车道。It is judged based on the comparison result whether the vehicle deviates from the lane.
优选地,所述获取车辆所处车道的图像信息的步骤之前还包括:Preferably, the step of acquiring the image information of the lane in which the vehicle is located further includes:
根据经验值预先设定所述车辆的一侧与同侧车道线的偏移量阈值b。The offset threshold b of one side of the vehicle and the same side lane line is preset in accordance with the empirical value.
优选地,所述将所述车辆的一侧与同侧车道线的偏移量a与预先设定的车辆的一侧与同侧车道线的偏移量阈值b进行比对,根据比对结果判断车辆是否偏离车道的步骤包括:Preferably, the offset a of the one side of the vehicle and the same side lane line is compared with a preset threshold value b of the side of the vehicle and the same side lane line, according to the comparison result. The steps to determine if the vehicle is off track are:
若比对结果为a>b,则判断车辆偏离车道;If the comparison result is a>b, it is determined that the vehicle deviates from the lane;
若比对结果为a≤b,则判断车辆没有偏离车道。If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
优选地,所述对所述车道的图像信息进行解析,得到车道的车道线的位置信息的步骤还包括:Preferably, the step of parsing the image information of the lane to obtain the location information of the lane line of the lane further includes:
对所述车道的图像信息进行解析,得到所述车道的车道线的类别信息,所述车道线的类别信息包括车道线为实线、双实线或者虚线等信息;Parsing the image information of the lane to obtain category information of the lane line of the lane, and the category information of the lane line includes information that the lane line is a solid line, a double solid line or a broken line;
所述提示用户车辆偏离车道的步骤中还包括:The step of prompting the user to deviate from the lane further includes:
若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.
若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
本发明还提供了一种车道保持装置,包括:The invention also provides a lane keeping device comprising:
车道图像获取模块,用于获取车辆所处车道的图像信息;a lane image acquisition module, configured to acquire image information of a lane in which the vehicle is located;
图像解析模块,用于对所述车道的图像信息进行解析,得到车道的车道线的位置信息;An image analysis module, configured to parse image information of the lane to obtain position information of a lane line of the lane;
车辆信息获取模块,用于通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;a vehicle information acquisition module, configured to acquire location information of the vehicle by using a GPS, and acquire acceleration information of the vehicle by using an acceleration sensor;
判断模块,用于结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;a determining module, configured to determine, according to position information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle, whether the vehicle deviates from the lane;
提示模块,用于在所述判断模块判断车辆偏离车道时,提示用户车辆偏离车道。The prompting module is configured to prompt the user to deviate from the lane when the determining module determines that the vehicle deviates from the lane.
优选地,所述判断模块包括:Preferably, the determining module comprises:
计算单元,用于结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算所述车辆的一侧与同侧车道线的偏移量a;a calculating unit, configured to calculate an offset a of the side of the vehicle and the same side lane line in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
比对单元,用于将所述偏移量a与预先设定的车辆的一侧与同侧车道线的偏移量阈值b进行比对,其中所述偏移量阈值b根据经验值设定;a matching unit configured to compare the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line, wherein the offset threshold b is set according to an empirical value ;
判断单元,用于根据比对结果判断所述车辆是否偏离车道。And a judging unit, configured to judge, according to the comparison result, whether the vehicle deviates from the lane.
优选地,所述车道保持装置还包括预设定模块,用于根据经验值预先设定所述车辆的一侧与同侧车道线的偏移量阈值b。Preferably, the lane keeping device further includes a preset module configured to preset an offset threshold b of one side of the vehicle and the same side lane line according to an empirical value.
优选地,所述判断单元还用于:Preferably, the determining unit is further configured to:
若比对结果为a>b,则判断车辆偏离车道;If the comparison result is a>b, it is determined that the vehicle deviates from the lane;
若比对结果为a≤b,则判断车辆没有偏离车道。If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
优选地,所述图像解析模块还用于:Preferably, the image parsing module is further configured to:
对所述车道的图像信息进行解析,得到所述车道的车道线的类别信息,所述车道线的类别信息包括车道线为实线、双实线或者虚线等信息;Parsing the image information of the lane to obtain category information of the lane line of the lane, and the category information of the lane line includes information that the lane line is a solid line, a double solid line or a broken line;
所述提示模块还用于:The prompt module is further configured to:
若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.
若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
本发明实施例提出的车道保持方法及装置,通过获取车辆所处车道的图像信息;对所述车道的图像信息进行解析,得到车道的车道线的位置信息;通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;若是,则提示用户车辆偏离车道,从而保证车辆按规定车道行驶,提高了车道保持的精度,同时也提高了驾驶安全性,提升了用户体验。A lane keeping method and apparatus according to an embodiment of the present invention obtains image information of a lane in which a vehicle is located; analyzes image information of the lane to obtain position information of a lane line of the lane; and acquires position information of the vehicle by using GPS Obtaining acceleration information of the vehicle by using an acceleration sensor; determining location of the lane line information of the lane, location information of the vehicle, and acceleration information of the vehicle whether the vehicle deviates from the lane; if yes, prompting the user to deviate from the lane, thereby The vehicle is guaranteed to travel in the prescribed lane, which improves the accuracy of lane keeping, and also improves driving safety and enhances the user experience.
附图说明DRAWINGS
图1是本发明车道保持方法较佳实施例的流程示意图;1 is a schematic flow chart of a preferred embodiment of a lane keeping method of the present invention;
图2是本发明车道保持方法中步骤S4的细化流程示意图;2 is a schematic diagram showing the refinement process of step S4 in the lane keeping method of the present invention;
图3是本发明车道保持装置较佳实施例的功能模块示意图;3 is a schematic diagram of functional modules of a preferred embodiment of the lane keeping device of the present invention;
图4是本发明车道保持装置中判断模块的细化功能模块示意图。4 is a schematic diagram of a refinement function module of the judging module in the lane keeping device of the present invention.
为了使本发明的目的、技术方案及优点更加清楚明白,以下结合附图及实施例,对本发明进行进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
具体实施方式detailed description
应当理解,此处所描述的具体实施例仅仅用以解释本发明,并不用于限定本发明。It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
本发明实施例的解决方案主要是:获取车辆所处车道的图像信息;对所述车道的图像信息进行解析,得到车道的车道线的位置信息;通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;若是,则提示用户车辆偏离车道。The solution of the embodiment of the present invention is mainly: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle by using GPS, and adopting acceleration The sensor acquires acceleration information of the vehicle; determines positional information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle whether the vehicle deviates from the lane; if yes, prompts the user to deviate from the lane.
具体地,如图1所示,图1为本发明提供的一种车道保持方法的较佳施例,该方法包括:Specifically, as shown in FIG. 1 , FIG. 1 is a preferred embodiment of a lane keeping method provided by the present invention, where the method includes:
步骤S1,获取车辆所处车道的图像信息;Step S1, acquiring image information of a lane in which the vehicle is located;
具体实施时,可以在车辆上设置车载摄像头,通过车载摄像头拍摄车辆所处车道的图像,得到车辆所处车道的图像信息。In a specific implementation, an in-vehicle camera may be disposed on the vehicle, and an image of a lane in which the vehicle is located is captured by the in-vehicle camera to obtain image information of a lane in which the vehicle is located.
步骤S2,对车道的图像信息进行解析,得到车道的车道线的位置信息;Step S2, analyzing image information of the lane to obtain position information of the lane line of the lane;
得到车道的图像信息后,采用图像分析技术或者其他方式对获得的图像信息进行分析处理,得到车辆所处车道的车道线的位置信息。After obtaining the image information of the lane, the obtained image information is analyzed and processed by image analysis technology or other methods to obtain the position information of the lane line of the lane in which the vehicle is located.
步骤S3,通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;Step S3, acquiring position information of the vehicle through GPS, and acquiring acceleration information of the vehicle through the acceleration sensor;
步骤S4,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆是否偏离车道;若是,则进入步骤S5;Step S4, combined with the position information of the lane line of the lane, the position information of the vehicle and the acceleration information of the vehicle to determine whether the vehicle deviates from the lane; if yes, proceeds to step S5;
步骤S5,提示用户车辆偏离车道。In step S5, the user is prompted to deviate from the lane.
具体地,作为一种实施方式,可以通过加速度传感器能准确地获取到车辆的加速度方向及加速度大小,根据加速度方向及大小可以判断车辆的行驶方向及速度大小,根据GPS定位可以得到车辆的位置信息,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息,能准确地判断出车辆是否偏离车道。Specifically, as an implementation manner, the acceleration direction and the acceleration magnitude of the vehicle can be accurately acquired by the acceleration sensor, and the driving direction and the speed of the vehicle can be determined according to the acceleration direction and the size, and the position information of the vehicle can be obtained according to the GPS positioning. In combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle, it is possible to accurately determine whether the vehicle deviates from the lane.
比如,当车辆在A点位置的时候,通过GPS定位到当前车辆位于位置A,通过加速度传感器检测到车辆在当前位置A的加速度大小及方向,根据当前位置A的加速度大小及方向得到车辆的行驶方向F¬1,及当前行驶方向F¬1与同侧车道线的夹角C,
在下一时刻,当车辆在B点位置的时候,通过GPS定位到当前车辆位于位置B,通过加速度传感器检测到车辆在当前位置B的加速度大小及方向,根据当前位置B的加速度大小及方向得到车辆的行驶方向F¬2,及当前行驶方向F¬2与同侧车道线的夹角D。For example, when the vehicle is at the A point position, the GPS is positioned to the current vehicle at the position A, the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A. Direction F¬1, and the angle C between the current traveling direction F¬1 and the same lane line,
At the next moment, when the vehicle is at the B point position, the current vehicle is located at the position B by GPS, the acceleration magnitude and direction of the vehicle at the current position B are detected by the acceleration sensor, and the vehicle is obtained according to the acceleration magnitude and direction of the current position B. The driving direction F¬2, and the angle D between the current traveling direction F¬2 and the same side lane line.
如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越大,则说明车辆与车道的偏移程度越来越大;如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越小,则说明车辆与车道的偏移程度越来越小;如果夹角D与夹角C都大于零,且夹角D相对于夹角C没有变化,则说明车辆与车道保持当前偏移状态。If the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
当结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆偏离车道后,可以通过语音或者车载显示器提示用户车辆偏离车道,如此,即使在用户精力分散的时候能直观的了解车辆行驶状况,从而提高行驶安全性。When the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle are determined to determine that the vehicle deviates from the lane, the user may be prompted to deviate from the lane by voice or on-board display, so that the user can intuitively understand even when the user's energy is dispersed. Driving conditions of the vehicle, thereby improving driving safety.
本实施例通过上述方案:获取车辆所处车道的图像信息;对车道的图像信息进行解析,得到车道的车道线的位置信息;通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;若是,则提示用户车辆偏离车道;若否,则可以不提示,从而保证车辆按规定车道行驶,提高了车道是否保持车道的精度,提高了驾驶安全性,提升了用户体验。The embodiment adopts the foregoing solution: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using the acceleration sensor; Determining whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, prompting the user to deviate from the lane; if not, the vehicle may not be prompted to ensure that the vehicle is driving in the prescribed lane Improves the accuracy of the lane to maintain the lane, improves driving safety and enhances the user experience.
如图2所示,图2是基于图1所述的车道保持方法中步骤S4的细化流程示意图。本实施例中,上述步骤S4,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆是否偏离车道可以包括:As shown in FIG. 2, FIG. 2 is a schematic flow chart of the step S4 in the lane keeping method according to FIG. In this embodiment, the step S4, determining the deviation of the vehicle from the lane by combining the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle may include:
步骤S401,结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算所述车辆的一侧与同侧车道线的偏移量a;Step S401, combining the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle to calculate an offset a of one side of the vehicle and the same side lane line;
其中,偏移量a可以通过距离参数体现,也可以通过角度体现,或者通过距离和角度一同体现。本实施例以距离和角度一同体现进行举例。The offset a can be represented by a distance parameter, or can be represented by an angle, or by a distance and an angle. This embodiment is exemplified by the distance and the angle.
通过车辆加速度传感器可以检测到车辆的加速度方向及加速度大小。然后根据加速度方向及大小可以判断车辆的行驶方向及速度大小。The acceleration direction and acceleration of the vehicle can be detected by the vehicle acceleration sensor. Then, according to the direction and size of the acceleration, the direction and speed of the vehicle can be judged.
当车辆没有偏移车道,在车道内安全行驶时,车辆的行驶方向与车道线平行,当车辆偏离车道时,车辆的行驶方向与车道线之间形成一定的夹角。When the vehicle has no offset lanes, the driving direction of the vehicle is parallel to the lane line when driving safely in the lane. When the vehicle deviates from the lane, the driving direction of the vehicle forms a certain angle with the lane line.
本实施例中,可以通过GPS定位得到车辆的位置,根据车辆的位置可以检测到车辆与车道线之间的距离,当车辆发生偏移时,可以监测到车辆的位置与车道线之间的距离在不断的发生变化。In this embodiment, the position of the vehicle can be obtained by GPS positioning, and the distance between the vehicle and the lane line can be detected according to the position of the vehicle. When the vehicle is offset, the distance between the position of the vehicle and the lane line can be monitored. Constantly changing.
从而根据夹角的大小及距离的变化可以得出车辆的一侧与同侧车道线的偏移量a。 Therefore, according to the change of the angle and the distance, the offset a of one side of the vehicle and the same side lane line can be obtained.
步骤S402,将偏移量a与预先设定的车辆的一侧与同侧车道线的偏移量阈值b进行比对,其中偏移量阈值b根据经验值设定;Step S402, the offset amount a is compared with a preset threshold value b of one side of the vehicle and the same side lane line, wherein the offset threshold value b is set according to an empirical value;
步骤S403,根据比对结果判断所述车辆是否偏离车道。Step S403, judging whether the vehicle deviates from the lane according to the comparison result.
为了判断车辆是否严重偏离车道,可以根据经验值预先设定所述车辆的一侧与同侧车道线的偏移量阈值b。通过上述步骤S401得到车辆的一侧与同侧车道线的偏移量a后,将偏移量a与预先设定的偏移量阈值b进行比对,如果比对结果为a>b,则判断车辆偏离车道,如果比对结果为a≤b,则判断车辆没有偏离车道。如此更进一步提高了判断车辆是否偏离车道的精度,提高了车辆行驶的安全性。In order to judge whether the vehicle is seriously deviated from the lane, the offset threshold b of one side of the vehicle and the same side lane line may be preset according to an empirical value. After obtaining the offset amount a of one side of the vehicle and the same side lane line by the above step S401, the offset amount a is compared with the preset offset amount threshold b, and if the comparison result is a>b, then It is judged that the vehicle deviates from the lane, and if the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane. This further improves the accuracy of determining whether the vehicle deviates from the lane, and improves the safety of the vehicle.
作为另一种实施方式,以偏移量为角度进行举例,可以通过加速度传感器能准确地获取到车辆的加速度方向及加速度大小,根据加速度方向及大小可以判断车辆的行驶方向及速度大小,根据GPS定位可以得到车辆的位置信息,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息,能准确地判断出车辆是否偏离车道。As another embodiment, taking the offset as an example, the acceleration direction and the acceleration of the vehicle can be accurately obtained by the acceleration sensor, and the direction and speed of the vehicle can be determined according to the direction and magnitude of the acceleration, according to the GPS. The positioning can obtain the position information of the vehicle, and the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle can accurately determine whether the vehicle deviates from the lane.
比如,当车辆在A点位置的时候,通过GPS定位到当前车辆位于位置A,通过加速度传感器检测到车辆在当前位置A的加速度大小及方向,根据当前位置A的加速度大小及方向得到车辆的行驶方向F¬1,及当前行驶方向F¬1与同侧车道线的夹角C,
在下一时刻,当车辆在B点位置的时候,通过GPS定位到当前车辆位于位置B,通过加速度传感器检测到车辆在当前位置B的加速度大小及方向,根据当前位置B的加速度大小及方向得到车辆的行驶方向F¬2,及当前行驶方向F¬2与同侧车道线的夹角D。For example, when the vehicle is at the A point position, the GPS is positioned to the current vehicle at the position A, the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A. Direction F¬1, and the angle C between the current traveling direction F¬1 and the same lane line,
At the next moment, when the vehicle is at the B point position, the current vehicle is located at the position B by GPS, the acceleration magnitude and direction of the vehicle at the current position B are detected by the acceleration sensor, and the vehicle is obtained according to the acceleration magnitude and direction of the current position B. The driving direction F¬2, and the angle D between the current traveling direction F¬2 and the same side lane line.
如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越大,则说明车辆与车道的偏移程度越来越大;如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越小,则说明车辆与车道的偏移程度越来越小;如果夹角D与夹角C都大于零,且夹角D相对于夹角C没有变化,则说明车辆与车道保持当前偏移状态。If the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
另外,基于图1及图2所述的车道保持方法,在对车道的图像信息进行解析的过程中,除了得到车道线的位置信息外,还能通过对图像的分析处理得到车道线的类别信息,比如车道线为实线、双实线或者虚线等类别。当判断车辆偏离车道时,根据不同的车道线对用户进行不同内容的提醒。如果车道线为实线或者双实线等禁止变更车道的标线,则提示用户纠正车辆行驶方向;如果车道线为虚线等允许车辆变更车道的标线,则提示用户是否需要变更车道。如此,更进一步提高了车辆行驶的安全性,提升了用户体验。In addition, based on the lane keeping method described in FIG. 1 and FIG. 2, in the process of analyzing the image information of the lane, in addition to obtaining the position information of the lane line, the category information of the lane line can be obtained by analyzing and processing the image. For example, the lane line is a solid line, a double solid line, or a broken line. When it is judged that the vehicle deviates from the lane, the user is reminded of different contents according to different lane lines. If the lane line is a solid line or a double solid line, it is prohibited to change the direction of the lane, and the user is prompted to correct the direction of travel of the vehicle. If the lane line is a dotted line or the like, the vehicle is allowed to change the lane marking, and the user is prompted to change the lane. In this way, the safety of the vehicle is further improved and the user experience is improved.
综上所述,本发明车道保持方法通过上述方案:获取车辆所处车道的图像信息;对车道的图像信息进行解析,得到车道的车道线的位置信息;通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;若是,则提示用户车辆偏离车道,从而保证车辆按规定车道行驶,提高了车道保持的精度,提高了驾驶安全性,提升了用户体验。In summary, the lane keeping method of the present invention adopts the above solution: acquiring image information of a lane in which the vehicle is located; analyzing image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle through GPS, and transmitting acceleration The sensor acquires acceleration information of the vehicle; determines positional information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle to determine whether the vehicle deviates from the lane; if yes, prompts the user to deviate from the lane, thereby ensuring that the vehicle travels according to a prescribed lane. Improve the accuracy of lane keeping, improve driving safety and enhance user experience.
基于上述车道保持方法,如图3所示,本发明还提供了一种车辆保持装置,图3为本发明提供的一种车道保持装置的较佳施例,该装置包括:车道图像获取模块10、图像解析模块20、车辆信息获取模块30、判断模块40及提示模块50。Based on the lane keeping method described above, as shown in FIG. 3, the present invention further provides a vehicle holding device. FIG. 3 is a preferred embodiment of a lane keeping device provided by the present invention, and the device includes: a lane image acquiring module 10 The image analysis module 20, the vehicle information acquisition module 30, the determination module 40, and the prompt module 50.
其中,车道图像获取模块10用于获取车辆所处车道的图像信息;The lane image acquiring module 10 is configured to acquire image information of a lane in which the vehicle is located;
具体实施时,可以在车辆上设置车载摄像头,通过车载摄像头拍摄车辆所处车道的图像,得到车辆所处车道的图像信息。In a specific implementation, an in-vehicle camera may be disposed on the vehicle, and an image of a lane in which the vehicle is located is captured by the in-vehicle camera to obtain image information of a lane in which the vehicle is located.
图像解析模块20用于对车道的图像信息进行解析,得到车道的车道线的位置信息;The image analysis module 20 is configured to analyze image information of the lane to obtain position information of the lane line of the lane;
得到车道的图像信息后,图像解析模块20采用图像分析技术或者其他方式对获得的图像信息进行分析处理,得到车辆所处车道的车道线的位置信息。After the image information of the lane is obtained, the image analysis module 20 analyzes the obtained image information by using image analysis technology or other methods to obtain position information of the lane line of the lane in which the vehicle is located.
车辆信息获取模块30用于通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;The vehicle information acquisition module 30 is configured to acquire location information of the vehicle by using GPS, and acquire acceleration information of the vehicle by using the acceleration sensor;
判断模块40用于结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆是否偏离车道;The determining module 40 is configured to determine whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
若是,则提示模块50提示用户车辆偏离车道。If so, the prompting module 50 prompts the user to deviate from the lane.
具体地,作为一种实施方式,可以通过加速度传感器能准确地获取到车辆的加速度方向及加速度大小,根据加速度方向及大小可以判断车辆的行驶方向及速度大小,根据GPS定位可以得到车辆的位置信息,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息,能准确地判断出车辆是否偏离车道。Specifically, as an implementation manner, the acceleration direction and the acceleration magnitude of the vehicle can be accurately acquired by the acceleration sensor, and the driving direction and the speed of the vehicle can be determined according to the acceleration direction and the size, and the position information of the vehicle can be obtained according to the GPS positioning. In combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle, it is possible to accurately determine whether the vehicle deviates from the lane.
比如,当车辆在A点位置的时候,通过GPS定位到当前车辆位于位置A,通过加速度传感器检测到车辆在当前位置A的加速度大小及方向,根据当前位置A的加速度大小及方向得到车辆的行驶方向F¬1,及当前行驶方向F¬1与同侧车道线的夹角C,
在下一时刻,当车辆在B点位置的时候,通过GPS定位到当前车辆位于位置B,通过加速度传感器检测到车辆在当前位置B的加速度大小及方向,根据当前位置B的加速度大小及方向得到车辆的行驶方向F¬2,及当前行驶方向F¬2与同侧车道线的夹角D。如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越大,则说明车辆与车道的偏移程度越来越大;如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越小,则说明车辆与车道的偏移程度越来越小;如果夹角D与夹角C都大于零,且夹角D相对于夹角C没有变化,则说明车辆与车道保持当前偏移状态。For example, when the vehicle is at the A point position, the GPS is positioned to the current vehicle at the position A, the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A. Direction F¬1, and the angle C between the current traveling direction F¬1 and the same lane line,
At the next moment, when the vehicle is at the B point position, the current vehicle is located at the position B by GPS, the acceleration magnitude and direction of the vehicle at the current position B are detected by the acceleration sensor, and the vehicle is obtained according to the acceleration magnitude and direction of the current position B. The driving direction F¬2, and the angle D between the current traveling direction F¬2 and the same side lane line. If the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
当结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆偏离车道后,可以通过语音或者车载显示器提示用户车辆偏离车道,如此,即使在用户精力分散的时候能直观的了解车辆行驶状况,从而提高行驶安全性。When the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle are determined to determine that the vehicle deviates from the lane, the user may be prompted to deviate from the lane by voice or on-board display, so that the user can intuitively understand even when the user's energy is dispersed. Driving conditions of the vehicle, thereby improving driving safety.
本实施例通过上述方案:车道图像获取模块10获取车辆所处车道的图像信息;图像解析模块20对车道的图像信息进行解析,得到车道的车道线的位置信息;车辆信息获取模块30通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;判断模块40结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆是否偏离车道;若是,则提示模块50提示用户车辆偏离车道,从而保证车辆按规定车道行驶,提高了车道保持的精度,提高了驾驶安全性,提升了用户体验。In the embodiment, the lane image acquisition module 10 acquires the image information of the lane in which the vehicle is located; the image analysis module 20 analyzes the image information of the lane to obtain the location information of the lane line of the lane; the vehicle information acquisition module 30 acquires the GPS information. The position information of the vehicle acquires acceleration information of the vehicle through the acceleration sensor; the determination module 40 determines whether the vehicle deviates from the lane in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, the prompting module 50 prompts the user of the vehicle Deviation from the lane ensures that the vehicle travels in the prescribed lane, which improves the accuracy of lane keeping, improves driving safety and enhances the user experience.
如图4所示,图4是基于图3所述的车道保持装置中判断模块40的细化功能模块示意图。上述判断模块40包括计算单元401、比对单元402及判断单元403。As shown in FIG. 4, FIG. 4 is a schematic diagram of a refinement function module of the determination module 40 in the lane keeping device according to FIG. The foregoing determining module 40 includes a calculating unit 401, a comparing unit 402, and a determining unit 403.
具体地,计算单元401用于结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算车辆的一侧与同侧车道线的偏移量a;Specifically, the calculating unit 401 is configured to calculate the offset amount a of one side of the vehicle and the same side lane line in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;
其中,偏移量a可以通过距离参数体现,也可以通过角度体现,或者通过距离和角度一同体现。本实施例以距离和角度一同体现进行举例。The offset a can be represented by a distance parameter, or can be represented by an angle, or by a distance and an angle. This embodiment is exemplified by the distance and the angle.
通过车辆加速度传感器可以检测到车辆的加速度信息,方向及加速度大小。然后根据加速度方向及大小可以判断车辆的行驶方向及速度大小。The acceleration information, direction and acceleration of the vehicle can be detected by the vehicle acceleration sensor. Then, according to the direction and size of the acceleration, the direction and speed of the vehicle can be judged.
当车辆没有偏移车道,在车道内安全行驶时,车辆的行驶方向与车道线平行,当车辆偏离车道时,车辆的行驶方向与车道线之间形成一定的夹角。When the vehicle has no offset lanes, the driving direction of the vehicle is parallel to the lane line when driving safely in the lane. When the vehicle deviates from the lane, the driving direction of the vehicle forms a certain angle with the lane line.
本实施例中,可以通过GPS定位得到车辆的位置,根据车辆的位置可以检测到车辆与车道线之间的距离,当车辆发生偏移时,可以监测到车辆的位置与车道线之间的距离在不断的发生变化。In this embodiment, the position of the vehicle can be obtained by GPS positioning, and the distance between the vehicle and the lane line can be detected according to the position of the vehicle. When the vehicle is offset, the distance between the position of the vehicle and the lane line can be monitored. Constantly changing.
从而根据夹角的大小及距离的变化值可以得出车辆的一侧与同侧车道线的偏移量a。 Therefore, according to the magnitude of the angle and the change value of the distance, the offset a of one side of the vehicle and the same side lane line can be obtained.
比对单元402用于将偏移量a与预先设定的车辆的一侧与同侧车道线的偏移量阈值b进行比对,其中偏移量阈值b根据经验值设定。The comparison unit 402 is configured to compare the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line, wherein the offset threshold b is set according to an empirical value.
判断单元403用于根据比对结果判断车辆是否偏离车道。The judging unit 403 is configured to judge whether the vehicle deviates from the lane based on the comparison result.
为了判断车辆是否严重偏离车道,可以在该车辆保持装置中设置预设定模块,预设定模块用于根据经验值预先设定车辆的一侧与同侧车道线的偏移量阈值b。通过上述计算单元401得到车辆的一侧与同侧车道线的偏移量a后,比对单元402将偏移量a与预先设定的偏移量阈值b进行比对,如果比对结果为a>b,判断单元403则判断车辆偏离车道,如果比对结果为a≤b,判断单元403则判断车辆没有偏离车道。如此更进一步提高了判断车辆是否偏离车道的精度,提高了车辆行驶的安全性。In order to determine whether the vehicle is seriously deviated from the lane, a preset module may be provided in the vehicle holding device for presetting the offset threshold b of one side of the vehicle and the same lane line based on the empirical value. After obtaining the offset amount a of one side of the vehicle and the same side lane line by the above calculation unit 401, the comparison unit 402 compares the offset amount a with the preset offset amount threshold b, if the comparison result is a>b, the judging unit 403 judges that the vehicle deviates from the lane, and if the comparison result is a ≤ b, the judging unit 403 judges that the vehicle does not deviate from the lane. This further improves the accuracy of determining whether the vehicle deviates from the lane, and improves the safety of the vehicle.
作为另一种实施方式,以偏移量为角度进行举例,可以通过加速度传感器能准确地获取到车辆的加速度方向及加速度大小,根据加速度方向及大小可以判断车辆的行驶方向及速度大小,根据GPS定位可以得到车辆的位置信息,结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息,能准确地判断出车辆是否偏离车道。As another embodiment, taking the offset as an example, the acceleration direction and the acceleration of the vehicle can be accurately obtained by the acceleration sensor, and the direction and speed of the vehicle can be determined according to the direction and magnitude of the acceleration, according to the GPS. The positioning can obtain the position information of the vehicle, and the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle can accurately determine whether the vehicle deviates from the lane.
比如,当车辆在A点位置的时候,通过GPS定位到当前车辆位于位置A,通过加速度传感器检测到车辆在当前位置A的加速度大小及方向,根据当前位置A的加速度大小及方向得到车辆的行驶方向F¬1,及当前行驶方向F¬1与同侧车道线的夹角C,
在下一时刻,当车辆在B点位置的时候,通过GPS定位到当前车辆位于位置B,通过加速度传感器检测到车辆在当前位置B的加速度大小及方向,根据当前位置B的加速度大小及方向得到车辆的行驶方向F¬2,及当前行驶方向F¬2与同侧车道线的夹角D。For example, when the vehicle is at the A point position, the GPS is positioned to the current vehicle at the position A, the acceleration sensor detects the acceleration magnitude and direction of the vehicle at the current position A, and the vehicle is driven according to the acceleration magnitude and direction of the current position A. Direction F¬1, and the angle C between the current traveling direction F¬1 and the same lane line,
At the next moment, when the vehicle is at the B point position, the current vehicle is located at the position B by GPS, the acceleration magnitude and direction of the vehicle at the current position B are detected by the acceleration sensor, and the vehicle is obtained according to the acceleration magnitude and direction of the current position B. The driving direction F¬2, and the angle D between the current traveling direction F¬2 and the same side lane line.
如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越大,则说明车辆与车道的偏移程度越来越大;如果夹角D与夹角C都大于零,且夹角D相对于夹角C越来越小,则说明车辆与车道的偏移程度越来越小;如果夹角D与夹角C都大于零,且夹角D相对于夹角C没有变化,则说明车辆与车道保持当前偏移状态。If the angle D and the angle C are both greater than zero, and the angle D is larger than the angle C, the deviation of the vehicle from the lane is greater and greater; if the angle D and the angle C are both greater than Zero, and the angle D is smaller and smaller with respect to the angle C, indicating that the deviation of the vehicle from the lane is getting smaller and smaller; if the angle D and the angle C are both greater than zero, and the angle D is relative to the angle If there is no change in C, it means that the vehicle and the lane remain in the current offset state.
另外,基于图3及图4所述的车道保持装置,图像解析模块20在对车道的图像信息进行解析的过程中,除了得到车道线的位置信息外,还能通过对图像的分析处理得到车道线的类别信息,比如车道线为实线、双实线或者虚线等类别。当判断单元403判断车辆偏离车道时,提示模块50根据不同的车道线对用户进行不同内容的提醒。如果车道线为实线或者双实线等禁止变更车道的标线,提示模块50则提示用户纠正车辆行驶方向;如果车道线为虚线等允许车辆变更车道的标线,提示模块50则提示用户是否需要变更车道。如此,更进一步提高了车辆行驶的安全性,提升了用户体验。Further, based on the lane keeping device described in FIG. 3 and FIG. 4, in the process of analyzing the image information of the lane, the image analyzing module 20 can obtain the lane by analyzing and processing the image in addition to the position information of the lane line. Category information of the line, such as a lane line is a solid line, a double solid line, or a dotted line. When the judging unit 403 judges that the vehicle deviates from the lane, the prompting module 50 reminds the user of different contents according to different lane lines. If the lane line is a solid line or a double solid line, etc., the prompting module 50 prompts the user to correct the driving direction of the vehicle; if the lane line is a dotted line or the like, the prompting module 50 prompts the user whether the user is prompted to change the lane marking. Need to change lanes. In this way, the safety of the vehicle is further improved and the user experience is improved.
综上所述,本发明车道保持装置通过上述方案:车道图像获取模块10获取车辆所处车道的图像信息;图像解析模块20对车道的图像信息进行解析,得到车道的车道线的位置信息;车辆信息获取模块30通过GPS获取车辆的位置信息,通过加速度传感器获取车辆的加速度信息;判断模块40结合车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断车辆是否偏离车道;若是,则提示模块50提示用户车辆偏离车道,从而保证车辆按规定车道行驶,提高了车道保持的精度,提高了驾驶安全性,提升了用户体验。In summary, the lane keeping device of the present invention obtains the image information of the lane in which the vehicle is located by the lane image acquiring module 10; the image analyzing module 20 analyzes the image information of the lane to obtain the position information of the lane line of the lane; The information acquiring module 30 acquires the position information of the vehicle through the GPS, and acquires the acceleration information of the vehicle through the acceleration sensor; the determining module 40 determines whether the vehicle deviates from the lane according to the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle; if yes, Then, the prompting module 50 prompts the user to deviate from the lane, thereby ensuring that the vehicle runs in the prescribed lane, improves the accuracy of lane keeping, improves driving safety, and improves the user experience.
以上所述仅为本发明的优选实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或流程变换,或直接或间接运用在其它相关的技术领域,均同理包括在本发明的专利保护范围内。
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or process changes made by the specification and the drawings of the present invention may be directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.
Claims (16)
- 一种车道保持方法,其特征在于,包括: A lane keeping method, comprising:获取车辆所处车道的图像信息;Obtaining image information of the lane in which the vehicle is located;对所述车道的图像信息进行解析,得到车道的车道线的位置信息;Parsing image information of the lane to obtain position information of a lane line of the lane;通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;Acquiring location information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using an acceleration sensor;结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;Determining whether the vehicle deviates from the lane by combining location information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle;若是,则提示用户车辆偏离车道。If so, the user is prompted to deviate from the lane.
- 根据权利要求1所述的车道保持方法,其特征在于,所述结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否产生车道偏移的步骤包括:The lane keeping method according to claim 1, wherein the step of determining whether the vehicle generates a lane offset by the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle comprises:结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算所述车辆的一侧与同侧车道线的偏移量a;Calculating an offset amount a of one side of the vehicle and the same side lane line in combination with position information of the lane line of the lane, position information of the vehicle, and acceleration information of the vehicle;将所述偏移量a与预先设定的所述车辆的一侧与同侧车道线的偏移量阈值b进行比对;Comparing the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line;根据比对结果判断所述车辆是否偏离车道。It is judged based on the comparison result whether the vehicle deviates from the lane.
- 根据权利要求2所述的车道保持方法,其特征在于,所述获取车辆所处车道的图像信息的步骤之前还包括:The lane keeping method according to claim 2, wherein the step of acquiring the image information of the lane in which the vehicle is located further comprises:根据经验值预先设定所述车辆的一侧与同侧车道线的偏移量阈值b。The offset threshold b of one side of the vehicle and the same side lane line is preset in accordance with the empirical value.
- 根据权利要求3所述的车道保持方法,其特征在于,所述将所述偏移量a与预先设定的所述车辆的一侧与同侧车道线的阈值b进行比对,根据比对结果判断车辆是否偏离车道的步骤还包括:The lane keeping method according to claim 3, wherein said shifting amount a is compared with a threshold value b of one side of said vehicle and a lane line of the same side set in advance, according to comparison The result of determining whether the vehicle deviates from the lane further includes:若比对结果为a>b,则判断车辆偏离车道;If the comparison result is a>b, it is determined that the vehicle deviates from the lane;若比对结果为a≤b,则判断车辆没有偏离车道。If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
- 根据权利要求1所述的车道保持方法,其特征在于,所述对所述车道的图像信息进行解析,得到车道的车道线的位置信息的步骤还包括:The lane keeping method according to claim 1, wherein the step of analyzing the image information of the lane to obtain the position information of the lane line of the lane further comprises:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示用户车辆偏离车道的步骤中还包括:The step of prompting the user to deviate from the lane further includes:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求2所述的车道保持方法,其特征在于,所述对所述车道的图像信息进行解析,得到车道的车道线的位置信息的步骤还包括:The lane keeping method according to claim 2, wherein the step of analyzing the image information of the lane to obtain the position information of the lane line of the lane further comprises:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示用户车辆偏离车道的步骤中还包括:The step of prompting the user to deviate from the lane further includes:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求3所述的车道保持方法,其特征在于,所述对所述车道的图像信息进行解析,得到车道的车道线的位置信息的步骤还包括:The lane keeping method according to claim 3, wherein the step of analyzing the image information of the lane to obtain the position information of the lane line of the lane further comprises:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示用户车辆偏离车道的步骤中还包括:The step of prompting the user to deviate from the lane further includes:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求4所述的车道保持方法,其特征在于,所述对所述车道的图像信息进行解析,得到车道的车道线的位置信息的步骤还包括:The lane keeping method according to claim 4, wherein the step of analyzing the image information of the lane to obtain the position information of the lane line of the lane further comprises:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示用户车辆偏离车道的步骤中还包括:The step of prompting the user to deviate from the lane further includes:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 一种车道保持装置,其特征在于,包括:A lane keeping device, comprising:车道图像获取模块,用于获取车辆所处车道的图像信息;a lane image acquisition module, configured to acquire image information of a lane in which the vehicle is located;图像解析模块,用于对所述车道的图像信息进行解析,得到车道的车道线的位置信息;An image analysis module, configured to parse image information of the lane to obtain position information of a lane line of the lane;车辆信息获取模块,用于通过GPS获取所述车辆的位置信息,通过加速度传感器获取所述车辆的加速度信息;a vehicle information acquisition module, configured to acquire location information of the vehicle by using a GPS, and acquire acceleration information of the vehicle by using an acceleration sensor;判断模块,用于结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息判断所述车辆是否偏离车道;a determining module, configured to determine, according to position information of the lane line of the lane, location information of the vehicle, and acceleration information of the vehicle, whether the vehicle deviates from the lane;提示模块,用于在所述判断模块判断车辆偏离车道时,提示用户车辆偏离车道。The prompting module is configured to prompt the user to deviate from the lane when the determining module determines that the vehicle deviates from the lane.
- 根据权利要求9所述的车道保持装置,其特征在于,所述判断模块包括:The lane keeping device according to claim 9, wherein the determining module comprises:计算单元,用于结合所述车道的车道线的位置信息、车辆的位置信息以及车辆的加速度信息计算所述车辆的一侧与同侧车道线的偏移量a;a calculating unit, configured to calculate an offset a of the side of the vehicle and the same side lane line in combination with the position information of the lane line of the lane, the position information of the vehicle, and the acceleration information of the vehicle;比对单元,用于将所述偏移量a与预先设定的所述车辆的一侧与同侧车道线的偏移量阈值b进行比对,其中所述偏移量阈值b根据经验值设定;a comparison unit for comparing the offset a with a preset offset threshold b of one side of the vehicle and an ipsilateral lane line, wherein the offset threshold b is based on an empirical value set up;判断单元,用于根据比对结果判断所述车辆是否偏离车道。And a judging unit, configured to judge, according to the comparison result, whether the vehicle deviates from the lane.
- 根据权利要求10所述的车道保持装置,其特征在于,还包括:The lane keeping device according to claim 10, further comprising:预设定模块,用于根据经验值预先设定所述车辆的一侧与同侧车道线的偏移量阈值b。And a preset module configured to preset an offset threshold b of one side of the vehicle and the same side lane line according to an empirical value.
- 根据权利要求10所述的车道保持装置,其特征在于,所述判断单元还用于:The lane keeping device according to claim 10, wherein the determining unit is further configured to:若比对结果为a>b,则判断车辆偏离车道;If the comparison result is a>b, it is determined that the vehicle deviates from the lane;若比对结果为a≤b,则判断车辆没有偏离车道。If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
- 根据权利要求9所述的车道保持装置,其特征在于,所述图像解析模块还用于:The lane keeping device according to claim 9, wherein the image parsing module is further configured to:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示模块还用于:The prompt module is further configured to:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求10所述的车道保持装置,其特征在于,所述图像解析模块还用于:The lane keeping device according to claim 10, wherein the image parsing module is further configured to:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示模块还用于:The prompt module is further configured to:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求11所述的车道保持装置,其特征在于,所述图像解析模块还用于:The lane keeping device according to claim 11, wherein the image parsing module is further configured to:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示模块还用于:The prompt module is further configured to:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
- 根据权利要求12所述的车道保持装置,其特征在于,所述图像解析模块还用于:The lane keeping device according to claim 12, wherein the image parsing module is further configured to:对所述车道的图像信息进行解析,得到所述车道的车道线的类别,所述车道线的类别包括实线、双实线或者虚线;Parsing the image information of the lane to obtain a category of the lane line of the lane, and the category of the lane line includes a solid line, a double solid line or a broken line;所述提示模块还用于:The prompt module is further configured to:若所述车道线为实线或者为双实线,则提示用户纠正车辆行驶方向。If the lane line is a solid line or a double solid line, the user is prompted to correct the direction of travel of the vehicle.若所述车道线为虚线,则提示用户是否需要变更车道。 If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
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CN103832433A (en) * | 2012-11-21 | 2014-06-04 | 中国科学院沈阳计算技术研究所有限公司 | Lane departure and front collision warning system and achieving method thereof |
CN104015729A (en) * | 2013-02-28 | 2014-09-03 | 林德轩 | Lane departure alarm system |
CN104085396A (en) * | 2014-07-03 | 2014-10-08 | 上海纵目科技有限公司 | Panoramic lane departure warning method and system |
CN106347363A (en) * | 2016-10-12 | 2017-01-25 | 深圳市元征科技股份有限公司 | Lane keeping method and lane keeping device |
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GB2584611A (en) * | 2019-05-09 | 2020-12-16 | Jaguar Land Rover Ltd | Apparatus and method for use with a vehicle |
GB2584611B (en) * | 2019-05-09 | 2021-10-27 | Jaguar Land Rover Ltd | Apparatus and method for use with a vehicle |
GB2596008A (en) * | 2019-05-09 | 2021-12-15 | Jaguar Land Rover Ltd | Apparatus and method for use with a vehicle |
GB2596008B (en) * | 2019-05-09 | 2023-02-08 | Jaguar Land Rover Ltd | Apparatus and method for use with a vehicle |
US12071151B2 (en) | 2019-05-09 | 2024-08-27 | Jaguar Land Rover Limited | Apparatus and method for use with a vehicle |
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