CN101992778A - Lane deviation early warning and driving recording system and method - Google Patents
Lane deviation early warning and driving recording system and method Download PDFInfo
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Abstract
The embodiment of the invention discloses a lane deviation early warning and driving recording system and a lane deviation early warning and driving recording method. In the system, a near infrared light source is matched with an optical filter to illuminate a lane; because the near infrared is non-visible light, near infrared can be used at night, does not influence the visual field of vehicles and pedestrians on the road surface and can illuminate the lane; lane image information is acquired by an image sensor; lane line information is acquired by an image processing device according to preset lane characteristic parameters; and the current vehicle position information is compared with the lane line information obtained through calculation to judge whether a driving vehicle is deviated from the lane, and an alarm is given when the vehicle is deviated from the lane. The system and the method overcome the defect that a condition that the vehicle is deviated from the correct driving lane cannot be prevented when a driver is fatigue or has blurred vision under insufficient light, particularly at night in the prior art, fulfill the aim of recording the driving state in all weather, can reproduce the process of an accident according to stored image information and is favorable for judging the cause of the accident.
Description
Technical field
The present invention relates to vehicle control technology field, more particularly, relate to a kind of lane departure warning and travel register system and method.
Background technology
At present, automobile is as a kind of main vehicle of people trip, and is efficient and convenient with it, independence strong, the advantage of fashion, is subjected to more and more customers' favor.In the process of people trip, unavoidably to drive a vehicle at night since night extraneous insufficient light and visbility lower, the safety of people's driving is caused a hidden trouble.
In the prior art, the infrared video night vision system illuminates the road surface by the infrared lamp that is installed in the head light group, front end at automobile rearview mirror is installed pick up camera, in order to take the condition of road surface at night, again the pavement image of taking is transferred on the read-out in the gauge panel, chaufeur activates the night vision function of described infrared video night vision system by rotary lighting switch, to reduce because the low unclear train operation accident that causes of condition of road surface that causes of insufficient light and visbility.
Yet, there is following shortcoming at least in prior art, though can being implemented in insufficient light or visbility, described infrared video night vision system illuminates the ground-surface purpose when low, but can not prevent the correct driving lane situation that departs from that occurs under the situation of fatigue or eye-blurred appears in insufficient light, driver, this kind situation will influence uplink or travelling of other vehicles of downlink and cause unnecessary traffic accident; In addition, road surface of the prior art shoot function can only carry out real-time pavement image transmission and storage, but at insufficient light, during accident or the emergency situations of especially meeting accident night, can not reduction accident process, thus the both sides of accident are brought difficulty at the confirmation of responsibility of accident or emergency situations.
Summary of the invention
In view of this, the invention provides a kind of lane departure warning and travel register system and method, with be implemented in insufficient light, especially night driving person fatigue or eye-blurred appear and occur depart from correct driving lane the time purpose that gives the alarm, and can carry out writing down the train operation accident process round-the-clockly, the process that the reduction accident takes place helps judgement accident occurrence cause.
A kind of lane departure warning and the register system of travelling comprise: near-infrared light source, filter, camera head, imageing sensor, automatically controlled processing unit, image processing apparatus and image memory device, wherein:
Described near-infrared light source sees through filter irradiation track, by described camera head with the carriageway image information of production through sensor transmissions to image processing apparatus and described automatically controlled processing unit, and be stored to described image memory device;
Described image processing apparatus obtains lane mark information and transmission according to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark;
The described lane mark information of described automatically controlled processing unit comparison vehicle current location information and reception when judging generation driving run-off-road line, is sent and is departed from alarm.
Present embodiment utilizes near-infrared light source to cooperate filter irradiation track, because near infrared light is a non-visible light, can use at night, not only do not influence the road vehicles pedestrian visual field and can play the effect in irradiation track, present embodiment is gathered carriageway image information by imageing sensor, obtain lane mark information by image processing apparatus according to default track characteristic parameter, and with vehicle current location information and the lane mark information comparison that calculates, judge whether the situation of run-off-road of driving a vehicle, and when run-off-road, give the alarm.This embodiment is owing to utilized and can shine driving lane at the near-infrared light source of night lighting, what is more important: this embodiment can give the alarm when the driving run-off-road, overcome and to have prevented in the prior art in insufficient light, the situation that departs from correct driving lane that occurred when especially fatigue or eye-blurred appear in the night-time hours driver, and present embodiment has realized that night-time hours also can write down the purpose of driving situation, when having an accident, the process that can take place according to the graphicinformation reduction accident of storage helps judgement accident occurrence cause.
Preferably, described system also comprises: described image processing apparatus carries out described carriageway image information to be sent to automatically controlled processing unit, and to be stored to described image memory device after image denoising and gamma correction obtain clear carriageway image information.
Image is pretreated to be for described carriageway image information is more clear, is convenient to watch and handle.
Described system also comprises: supporting mechanism is connected with the Windshield of vehicle with described camera head respectively.
The effect that is provided with of this supporting mechanism is described camera head is fixed on the described Windshield, is convenient to take carriageway image.
Preferably, described image processing apparatus is specially dsp processor, and described camera head is specially the cmos imaging element, and described image memory device is specially the SD card.
Described dsp processor has powerful data-handling capacity and high running velocity two big characteristics, is suitable for handling when driving a large amount of carriageway image information;
Described cmos imaging element has low price, low in energy consumption, to advantages such as infrared spectrum sensitivities, is adapted at using on the vehicle;
Described SD card is that volume is little, and the storage medium that storage content is big is suitable for being used with DSP.
Preferably, described system also comprises: the Liquid Crystal Display (LCD) of the clear carriageway image information that display image denoising and/or gamma correction street lamp terminal communicator and system obtain.
The described carriageway image pretreatment result who obtains behind image denoising and/or gamma correction shown help the condition of road surface that the vehicle driver watches driving, and make corresponding reaction, avoid because the accident that forward visibility is unclear or light takes place when dark.
Preferably, described automatically controlled processing unit comprises:
Described automatically controlled processing unit comprises:
Signal transmitting and receiving unit, micro controller system, memory cell and information processing performance element, wherein:
Described signal transmitting and receiving unit collection vehicle running information inputs to micro controller system, and described vehicle driving information comprises vehicle current location information and described lane mark information;
Described micro controller system is carried out result by described information processing performance element after described running information processing is obtained result;
Described memory cell is used to store the functional configuration information and the running information processing instruction of described system.
Described automatically controlled processing unit is finished and is collected running information and handle carriageway image information and lane mark information, and at the actions such as alarm that result is carried out, is the core regulation and control unit of native system.
The method of a kind of lane departure warning and the record that travels comprises:
Receive and store and shine the track, produce the carriageway image information that obtains by described camera head through filter by near-infrared light source;
According to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark, obtain lane mark information;
Comparison vehicle current location information and described lane mark information when judging generation driving run-off-road line, are sent and are departed from alarm.
Preferably, described method also comprises: described carriageway image information is carried out image denoising and gamma correction obtains clear carriageway image information.
Preferably, described basis is preset the track characteristic parameter and is discerned lane mark in conjunction with described carriageway image information, obtaining lane mark information is specially: according to track marginal information, track tendency angle information or lane mark graphicinformation described carriageway image information is carried out Hough transformation positioning car diatom, obtain lane mark information.
Described default track characteristic parameter is not limited to above-mentioned enumeration.
Preferably, described method also comprises: when lane mark is blocked, handle described carriageway image information with the predict lane line by Kalman filtering processing and average drifting.
Accurately predicted the unlikely lane mark information dropout that causes when using Kalman filtering to be blocked in the track.
From above-mentioned technical scheme as can be seen, the embodiment of the invention utilizes near-infrared light source to cooperate filter irradiation track, gather carriageway image information by imageing sensor, obtain lane mark information by image processing apparatus according to default track characteristic parameter, and with vehicle current location information and the lane mark information comparison that calculates, judge whether the situation of run-off-road of driving a vehicle, and when run-off-road, give the alarm.Because near infrared light is a non-visible light, can and very desirable irradiation range be arranged in the use at night, not only do not influence the road vehicles pedestrian visual field and can play the effect in irradiation track, what is more important: the function that this embodiment can provide weather-proof to give the alarm when the driving run-off-road, overcome and to have prevented in the prior art at insufficient light, the situation that departs from correct driving lane that is occurred when especially fatigue or eye-blurred appear in the night-time hours driver, and present embodiment has realized writing down night the purpose of driving situation, when this period has an accident, the process that can take place according to the carriageway image information reverting accident of storage helps the carry out confirmation of responsibility of the both sides of accident at accident or emergency situations.Lane departure warning disclosed by the invention and travel register system and cooresponding method, described system architecture is succinct, reasonable in design, and is with low cost.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the disclosed a kind of lane departure warning of the embodiment of the invention and the register system structural representation that travels;
Fig. 2 is the disclosed a kind of lane departure warning of further embodiment of this invention and the register system structural representation that travels;
Fig. 3 a is the disclosed a kind of lane departure warning of the embodiment of the invention and the recording method diagram of circuit that travels;
Fig. 3 b is the method flow diagram of default car characteristic parameter of the disclosed a kind of basis of the embodiment of the invention and carriageway image information identification lane mark;
Fig. 4 is the disclosed a kind of lane departure warning of the embodiment of the invention and the recording method diagram of circuit that travels.
The specific embodiment
For quote and know for the purpose of, hereinafter the technology of Shi Yonging, write a Chinese character in simplified form or abridge and be summarized as follows:
LDW:LANE DEPARTURE WARNING, deviation is reported to the police;
EEPROM:Electrically Erasable Programmable Read-Only Memory, EEPROM (Electrically Erasable Programmable Read Only Memo);
DSP:digital signal processor, a kind of microprocessor of handling bulk information with digital signal;
The HOUGH conversion: Hough transformation was proposed by Paul Hough in 1962, and what it was realized is a kind of mapping relations from the image space to the parameter space;
KALMAN filtering: Kalman filtering;
Cmos camera: a kind of low phtotoactive pick up camera;
SD card: Secure Digital Memory Card, safe digital card, a kind of memory device of based semiconductor fast-flash memory device.
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
The embodiment of the invention discloses a kind of lane departure warning and travel register system and method, with be implemented in insufficient light, driver fatigue or eye-blurred appear and occur depart from correct driving lane the time purpose that gives the alarm, and can write down the train operation accident process, the process that the reduction accident takes place helps judgement accident occurrence cause.
Fig. 1 shows lane departure warning and run recording equipment structure, comprise: as shown in the figure: near-infrared light source 101, filter 102, camera head 103, imageing sensor 104, automatically controlled processing unit 105, image processing apparatus 106 and image memory device 107, wherein:
Described near-infrared light source 101 sees through filter 102 irradiation tracks, by described camera head 103 the carriageway image information of producing is transferred to image processing apparatus 106 and described automatically controlled processing unit 105 through described imageing sensor 104, and be stored to described image memory device 107;
Described image processing apparatus 106 obtains lane mark information and transmission according to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark;
The described lane mark information of described automatically controlled processing unit 105 comparison vehicle current location informations and reception when judging generation driving run-off-road line, is sent and is departed from alarm.
Described near infrared light is a non-visible light, and its illumination range is: about 200 meters, and not only can play irradiation track, road surface and make imageing sensor discern at night, and because its non-visible light, can be owing to the visual field that influences road surface pedestrian or driver has an accident.
Described default track characteristic parameter comprises: track marginal information, track tendency angle information or lane mark graphicinformation are carried out Hough transformation positioning car diatom to described carriageway image information, obtain lane mark information.
After comparing, this lane mark information and vehicle current location information can judge whether vehicle deviation takes place in motion, described automatically controlled processing unit carries out corresponding alarm according to judged result, the prompting driver notes and corrects driving lane, thereby avoids hindering the generation of other vehicle pass-throughs and accident.
Need to prove: described default track characteristic parameter is not limited to above-mentioned enumeration.
Before described carriageway image information is sent to described automatically controlled processing unit 105, comprise that also described image processing apparatus 106 carries out described carriageway image information after image denoising and/or gamma correction obtain clear carriageway image information, be sent to automatically controlled processing unit 105, and be stored to described image memory device 107.Described image denoising and/or gamma correction are the image pretreatments, and purpose is to make described carriageway image information more clear, is convenient to watch and handle.
Described image processing apparatus is specially dsp processor, and described camera head is specially the cmos imaging element, and described image memory device is specially the SD card.
Described dsp processor has powerful data-handling capacity and high running velocity two big characteristics, is suitable for handling when driving a large amount of carriageway image information;
Described cmos imaging element has low price, low in energy consumption, to advantages such as infrared spectrum sensitivities, is adapted at using on the vehicle;
Described SD card is that volume is little, and the storage medium that storage content is big is suitable for being used with DSP.
It needs to be noted that the above-mentioned embodiment of enumerating is preferred device and an element among the present invention, is not limited to the above-mentioned mode of enumerating in the practical application, other forms are no longer given unnecessary details at this.
Present embodiment utilizes near-infrared light source to cooperate filter irradiation track, gather carriageway image information by imageing sensor, obtain lane mark information by image processing apparatus according to default track characteristic parameter, and with vehicle current location information and the lane mark information comparison that calculates, judge whether the situation of run-off-road of driving a vehicle, and when run-off-road, give the alarm.And present embodiment has realized the purpose of round-the-clock record driving situation, and when night-time hours had an accident, the process that can take place according to the carriageway image information reverting accident of storage helped the carry out confirmation of responsibility of the both sides of accident at accident or emergency situations.
Fig. 2 shows another lane departure warning and the register system structure of travelling, as shown in the figure, comprise: near-infrared light source 201, filter 202, camera head 203, imageing sensor 204, automatically controlled processing unit 205, image processing apparatus 206 and image memory device 207, wherein:
Described near-infrared light source 201 sees through filter 202 irradiation tracks, by described camera head 203 the carriageway image information of producing is transferred to image processing apparatus 206 and described automatically controlled processing unit 205 through described imageing sensor 204, and be stored to described image memory device 207;
Described image processing apparatus 206 obtains lane mark information and transmission according to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark;
The described lane mark information of described automatically controlled processing unit 205 comparison vehicle current location informations and reception when judging generation driving run-off-road line, is sent and is departed from alarm;
Also show among the figure: supporting mechanism 208 is connected with the Windshield of vehicle with described camera head 203 respectively.
The effect that is provided with of this supporting mechanism is described camera head is fixed on the described Windshield, is convenient to take carriageway image.
The Liquid Crystal Display (LCD) 209 of the clear carriageway image information that display image denoising and/or gamma correction obtain.
Described carriageway image pretreatment result behind image denoising and/or gamma correction shown help the condition of road surface that the vehicle driver watches driving, and make corresponding reaction, avoid because the accident that forward visibility is unclear or light takes place when dark.
Described automatically controlled processing unit 205 comprises:
Signal transmitting and receiving unit 2051, micro controller system 2052, memory cell 2053 and information processing performance element 2054, wherein:
Described signal transmitting and receiving unit 2051 collection vehicle running informations input to micro controller system 2052, and described vehicle driving information comprises vehicle current location information and described lane mark information;
Described vehicle driving information also comprises: switch for vehicle signal, igniting/gear signal, vehicle speed signal, environmental light intensity signal etc., enumerate no longer one by one herein.
Described micro controller system 2052 is carried out results by described information processing performance element 2054 after described running information processing is obtained result;
Described memory cell 2053 is used to store the functional configuration information and the running information processing instruction of described system, and in the present embodiment, described memory cell is specially EEPROM.
Described automatically controlled processing unit 205 is finished and is collected running information and handle carriageway image information and lane mark information, and at the actions such as alarm that result is carried out, is the core regulation and control unit of native system.
Fig. 3 a shows a kind of lane departure warning and the recording method of travelling, and comprising:
Step 301: receive and store and shine the track, produce the carriageway image information that obtains by described camera head through filter by near-infrared light source;
Step 302:, obtain lane mark information according to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark;
Step 303: the described lane mark information of comparison vehicle current location information and reception, when judging generation driving run-off-road line, send and depart from alarm.
Described method is corresponding with system of the present invention, realized the collection of round-the-clock carriageway image information, and insufficient light, driver fatigue or eye-blurred appear and occur depart from correct driving lane the time purpose that gives the alarm, this method can write down the train operation accident process, the process that the reduction accident takes place helps the reason that the judgement accident takes place.
Fig. 3 b shows the method for default car characteristic parameter of a kind of basis and carriageway image information identification lane mark, comprising:
Step 3021: extract a frame carriageway image information;
Step 30221: extract described carriageway image edge;
Step 30222: carry out binaryzation through Hough transformation and the straight line that satisfies track tendency angle;
Step 3023: described carriageway image is obtained straight line through Hough transformation;
Step 3024: judge whether described straight line satisfies this track tendency angle,, then carry out step 3025, otherwise abandon this straight line if satisfy;
Step 3025: whether the zone of judging this straight line of process binaryzation is highlighted thick lines, if highlighted thick lines then carry out steps 3026, otherwise abandons this straight line.
Step 3026: positioning car diatom;
Step 3027: carry out Kalman filtering prediction next frame lane mark position.
By above-mentioned steps as can be known: default track characteristic parameter comprises: track marginal information, track tendency angle information or lane mark graphicinformation are carried out Hough transformation positioning car diatom to described carriageway image information, obtain lane mark information.
This lane mark information can judge whether vehicle deviation takes place in motion after comparing with the carriageway image information that receives, and when taking place, deviation carries out corresponding alarm according to judged result, the prompting driver notes and corrects driving lane, thereby avoids hindering the generation of other vehicle pass-throughs and accident.
Fig. 4 shows the another kind of lane departure warning and the recording method of travelling, and comprising:
Step 401: receive by near-infrared light source and see through filter irradiation track, produce the carriageway image information that obtains by described camera head;
Step 402: described carriageway image information is carried out image denoising and gamma correction obtains clear carriageway image information, with described clear carriageway image information storage;
Step 403: according to track marginal information, track tendency angle information or lane mark graphicinformation described carriageway image information is carried out Hough transformation positioning car diatom, obtain lane mark information.
Step 404: comparison vehicle current location information and described lane mark information, when judging generation driving run-off-road line, send and depart from alarm;
It needs to be noted:
Described method also comprises: when lane mark is blocked, handle described carriageway image information with the predict lane line by Kalman filtering processing and average drifting.Accurately predicted the unlikely lane mark information dropout that causes when using Kalman filtering to be blocked in the track.
In sum:
Embodiments of the invention utilize near-infrared light source to cooperate filter irradiation track, gather carriageway image information by imageing sensor, obtain lane mark information by image processing apparatus according to default track characteristic parameter, and with vehicle current location information and the lane mark information comparison that calculates, judge whether the situation of run-off-road of driving a vehicle, and when run-off-road, give the alarm.Because near infrared light is a non-visible light, can and very desirable irradiation range be arranged in the use at night, not only do not influence the road vehicles pedestrian visual field and can play the irradiation track, responded to the effect that receives the carriageway image signal by imageing sensor, what is more important: the function that this embodiment can provide weather-proof to give the alarm when the driving run-off-road, overcome and to have prevented in the prior art at insufficient light, the situation that departs from correct driving lane that is occurred when especially fatigue or eye-blurred appear in the night-time hours driver, and present embodiment has realized the purpose of weather-proof record driving situation, when have an accident night, the process that can take place according to the carriageway image information reverting accident of storage helps the carry out confirmation of responsibility of the both sides of accident at accident or emergency situations.Lane departure warning disclosed by the invention and travel register system and cooresponding method, described system architecture is succinct, reasonable in design, and is with low cost.
Present embodiment has realized the purpose of record driving situation, and when having an accident, the process that can take place according to the carriageway image information reverting accident of storage helps the carry out confirmation of responsibility of the both sides of accident at accident or emergency situations.And described system architecture is succinct, reasonable in design, and is with low cost.
Each embodiment adopts the mode of going forward one by one to describe in this specification sheets, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For the disclosed system of embodiment, because it is corresponding with the embodiment disclosed method, so description is fairly simple, relevant part partly illustrates referring to method and gets final product.
It will be understood by those skilled in the art that and to use many different technologies and in the technology any one to come expression information, message and signal.For example, the message of mentioning in the above-mentioned explanation, information can be expressed as voltage, electric current, electromagnetic wave, magnetic field or magnetic particle, light field or above combination in any.
The professional can also further recognize, the unit and the algorithm steps of each example of describing in conjunction with embodiment disclosed herein, can realize with electronic hardware, computer software or the combination of the two, for the interchangeability of hardware and software clearly is described, the composition and the step of each example described prevailingly according to function in the above description.These functions still are that software mode is carried out with hardware actually, depend on the application-specific and the design constraint of technical scheme.The professional and technical personnel can use distinct methods to realize described function to each specific should being used for, but this realization should not thought and exceeds scope of the present invention.
The method of describing in conjunction with embodiment disclosed herein or the step of algorithm can directly use the software module of hardware, treater execution, and perhaps the combination of the two is implemented.Software module can place the storage medium of any other form known in random access memory (RAM), internal memory, read-only memory (ROM) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or the technical field.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (10)
1. the lane departure warning and the register system of travelling is characterized in that, comprising: near-infrared light source, filter, camera head, imageing sensor, automatically controlled processing unit, image processing apparatus and image memory device, wherein:
Described near-infrared light source sees through filter irradiation track, by described camera head the carriageway image information of producing is transferred to image processing apparatus and described automatically controlled processing unit through described imageing sensor, and is stored to described image memory device;
Described image processing apparatus obtains lane mark information and transmission according to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark;
The described lane mark information of described automatically controlled processing unit comparison vehicle current location information and reception when judging generation driving run-off-road line, is sent and is departed from alarm.
2. system according to claim 1, it is characterized in that, also comprise: described image processing apparatus carries out described carriageway image information to be sent to automatically controlled processing unit, and to be stored to described image memory device after image denoising and/or gamma correction obtain clear carriageway image information.
3. system according to claim 1 is characterized in that, also comprises: supporting mechanism is connected with the Windshield of vehicle with described camera head respectively.
4. system according to claim 1 is characterized in that described image processing apparatus is specially dsp processor, and described camera head is specially the cmos imaging element, and described image memory device is specially the SD card.
5. system according to claim 2 is characterized in that, also comprises: the Liquid Crystal Display (LCD) of the clear carriageway image information that display image denoising and/or gamma correction obtain.
6. system according to claim 1 is characterized in that, described automatically controlled processing unit comprises:
Signal transmitting and receiving unit, micro controller system, memory cell and information processing performance element, wherein:
Described signal transmitting and receiving unit collection vehicle running information inputs to micro controller system, and described vehicle driving information comprises described vehicle current location information and described lane mark information;
Described micro controller system is carried out result by described information processing performance element after described running information processing is obtained result;
Described memory cell is used to store the functional configuration information and the running information processing instruction of described system.
7. the method for a lane departure warning and the record that travels is characterized in that, comprising:
Receive and store and shine the track, produce the carriageway image information that obtains by described camera head through filter by near-infrared light source;
According to default track characteristic parameter and in conjunction with described carriageway image information identification lane mark, obtain lane mark information;
Comparison vehicle current location information and described lane mark information when judging generation driving run-off-road line, are sent and are departed from alarm.
8. method according to claim 7 is characterized in that, also comprises: described carriageway image information is carried out image denoising and gamma correction obtains clear carriageway image information.
9. method according to claim 7, it is characterized in that, described basis is preset the track characteristic parameter and is discerned lane mark in conjunction with described carriageway image information, obtaining lane mark information is specially: according to track marginal information, track tendency angle information or lane mark graphicinformation described carriageway image information is carried out Hough transformation positioning car diatom, obtain lane mark information.
10. method according to claim 7 is characterized in that, also comprises: when lane mark is blocked, handle described carriageway image information with the predict lane line by Kalman filtering processing and average drifting.
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| CN2010102641064A CN101992778B (en) | 2010-08-24 | 2010-08-24 | Lane deviation early warning and driving recording system and method |
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| CN102303609A (en) * | 2011-06-16 | 2012-01-04 | 广东铁将军防盗设备有限公司 | System and method for prewarning lane deviation |
| CN102314599A (en) * | 2011-10-11 | 2012-01-11 | 东华大学 | Identification and deviation-detection method for lane |
| CN102514572A (en) * | 2012-01-17 | 2012-06-27 | 湖南大学 | Lane departure early warning method |
| CN103593884A (en) * | 2013-11-22 | 2014-02-19 | 深圳市捷美安防技术有限公司 | Automobile data recorder and control method thereof |
| CN103802766A (en) * | 2012-11-14 | 2014-05-21 | 现代摩比斯株式会社 | Lane recognition system and method |
| CN104787042A (en) * | 2013-11-22 | 2015-07-22 | 福特全球技术公司 | In-vehicle path verification |
| CN107776490A (en) * | 2016-08-24 | 2018-03-09 | 韩国帝诺思有限公司 | The lane line of driver's seat and front passenger's seat, which is shown, uses head-up display and its display methods |
| CN107826108A (en) * | 2016-09-14 | 2018-03-23 | 通用汽车环球科技运作有限责任公司 | For the adaptively method and system of infrared lane detection on demand |
| CN109895694A (en) * | 2017-12-08 | 2019-06-18 | 郑州宇通客车股份有限公司 | A kind of lane departure warning method, device and vehicle |
| CN111508232A (en) * | 2020-04-16 | 2020-08-07 | 盛视科技股份有限公司 | Road safety snapshot all-in-one |
| CN113591720A (en) * | 2021-08-02 | 2021-11-02 | 广州小鹏自动驾驶科技有限公司 | Lane departure detection method, apparatus and computer storage medium |
| CN114787891A (en) * | 2019-12-12 | 2022-07-22 | 日立安斯泰莫株式会社 | Driving support device and driving support system |
| US11685373B2 (en) * | 2018-07-03 | 2023-06-27 | HELLA GmbH & Co. KGaA | Method for sensing and processing the carriageway condition of a carriageway on which a vehicle is driven |
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