WO2018068482A1

WO2018068482A1 - Lane-keeping method and device

Info

Publication number: WO2018068482A1
Application number: PCT/CN2017/079221
Authority: WO
Inventors: 刘均; 刘新; 宋朝忠; 欧阳张鹏
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-10-12
Filing date: 2017-04-01
Publication date: 2018-04-19
Also published as: CN106347363A

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

Lane keeping method and device

Technical field

The present invention relates to the field of traffic technologies, and in particular, to a lane keeping method and apparatus.

Background technique

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.

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.

Summary of the invention

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.

In order to achieve the above object, the present invention provides a method for assisting in changing lanes, including:

Obtaining image information of the lane in which the vehicle is located;

Parsing image information of the lane to obtain position information of a lane line of the lane;

Acquiring location information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using an acceleration sensor;

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;

If so, the user is prompted to deviate from the lane.

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:

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;

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;

It is judged based on the comparison result whether the vehicle deviates from the lane.

Preferably, 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.

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:

If the comparison result is a>b, it is determined that the vehicle deviates from the lane;

If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.

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:

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;

The step of prompting the user to deviate from the lane further includes:

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.

If the lane line is a dotted line, 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.

Preferably, 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 ;

And a judging unit, configured to judge, according to the comparison result, whether the vehicle deviates from the lane.

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.

Preferably, the determining unit is further configured to:

Preferably, the image parsing module is further configured to:

The prompt module is further configured to:

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.

DRAWINGS

1 is a schematic flow chart of a preferred embodiment of a lane keeping method of the present invention;

2 is a schematic diagram showing the refinement process of step S4 in the lane keeping method of the present invention;

3 is a schematic diagram of functional modules of a preferred embodiment of the lane keeping device of the present invention;

4 is a schematic diagram of a refinement function module of the judging module in the lane keeping device of the present invention.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

detailed description

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the 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.

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:

Step S1, acquiring image information of a lane in which the vehicle is located;

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.

Step S2, analyzing image information of the lane to obtain position information of the lane line of the lane;

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.

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;

In step S5, the user is prompted to deviate from the lane.

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.

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.

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.

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.

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:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The lane image acquiring module 10 is configured to acquire 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;

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.

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;

If so, the prompting module 50 prompts the user to deviate from the lane.

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.

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.

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.

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;

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.

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.

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.

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.

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.

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.

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

A lane keeping method, comprising:

Obtaining image information of the lane in which the vehicle is located;

Parsing image information of the lane to obtain position information of a lane line of the lane;

Acquiring location information of the vehicle by using GPS, and acquiring acceleration information of the vehicle by using an acceleration sensor;

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;

If so, the user is prompted to deviate from the lane.
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:

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;

Comparing the offset a with a preset offset threshold b of one side of the vehicle and the same side lane line;

It is judged based on the comparison result whether the vehicle deviates from the lane.
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:

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 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:

If the comparison result is a>b, it is determined that the vehicle deviates from the lane;

If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
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:

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;

The step of prompting the user to deviate from the lane further includes:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
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:

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;

The step of prompting the user to deviate from the lane further includes:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
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:

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;

The step of prompting the user to deviate from the lane further includes:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
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:

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;

The step of prompting the user to deviate from the lane further includes:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
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 lane keeping device according to claim 9, wherein 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 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;

And a judging unit, configured to judge, according to the comparison result, whether the vehicle deviates from the lane.
The lane keeping device according to claim 10, further comprising:

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.
The lane keeping device according to claim 10, wherein the determining unit is further configured to:

If the comparison result is a>b, it is determined that the vehicle deviates from the lane;

If the comparison result is a ≤ b, it is judged that the vehicle does not deviate from the lane.
The lane keeping device according to claim 9, wherein the image parsing module is further configured to:

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;

The prompt module is further configured to:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
The lane keeping device according to claim 10, wherein the image parsing module is further configured to:

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;

The prompt module is further configured to:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
The lane keeping device according to claim 11, wherein the image parsing module is further configured to:

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;

The prompt module is further configured to:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.
The lane keeping device according to claim 12, wherein the image parsing module is further configured to:

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;

The prompt module is further configured to:

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.

If the lane line is a dotted line, the user is prompted whether the lane needs to be changed.