CN108099819A - A kind of Lane Departure Warning System and method - Google Patents
A kind of Lane Departure Warning System and method Download PDFInfo
- Publication number
- CN108099819A CN108099819A CN201711345161.4A CN201711345161A CN108099819A CN 108099819 A CN108099819 A CN 108099819A CN 201711345161 A CN201711345161 A CN 201711345161A CN 108099819 A CN108099819 A CN 108099819A
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- vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to technical field of automotive electronics, and in particular to a kind of Lane Departure Warning System and method.Acquisition, when being less than irrelevance threshold value d0 from vehicle travel route and lane line minimum range, judges that vehicle is in deviation state from vehicle travel route；The distance from vehicle and target vehicle is gathered, when being less than threshold value L0 from vehicle and target vehicle minimum range, judges that vehicle is in risk of collision state；When vehicle while deviation state and risk of collision state are in, the active steering operation of driver is judged, when driver operates there is no active steering, output alarm signal.When driving near lane line but there is no risk of collision when, without alarm.And the stop alarm in the case where alarm reaches the nominal time or danger has released, it is therefore prevented that frequently alarm meets crew comfort drive demand.
Description
Technical field
The present invention relates to technical field of automotive electronics, and in particular to a kind of Lane Departure Warning System and method.
Background technology
Since driver attention does not concentrate or careless and inadvertent so that vehicle often is offset from lanes and collides and chase after
The accidents such as tail also have driver because driving habit makes that vehicle is walked intentionally near track or when road intermediate region has violated
Traffic law is closed, the security incidents such as collision is easily caused, and road traffic efficiency is declined.Common lane departure warning system
System is expected travel route to assess according to vehicle, and early warning system judges that driver will deviate from target carriage road, you can continuous
It sends alarm signal or takes track Conservation measures, vehicle makes security reaction in advance.
Above method can be effectively prevented from the generation of security incident, but reduce driver to a certain degree to early warning system
The degree of getting close to of system, travels near lane line as driver is conscious, will cause system long-time alarm.Particularly in two vehicles
In road surface, part driver travels between liking in the road, and early warning system identification and lane line distance are near, judge vehicle presence
Potential danger and frequent false alarm.Research shows that, as a kind of auxiliary driving early warning system, utilization rate largely depends on
In user to its acceptance.Therefore exploitation meets the Lane Departure Warning System of driver's driving behavior custom, basic herein
On to driver carry out driving behavior guiding, have staple market value and social effect.
The content of the invention
In order to solve the above technical problems, the present invention provides one kind to avoid security incident, while avoid frequently alarming
Lane Departure Warning System and method.
For a kind of lane departure warning method of the present invention, technical solution is：
Acquisition, when being less than irrelevance threshold value d0 from vehicle travel route and lane line minimum range, is sentenced from vehicle travel route
Disconnected vehicle is in deviation state；
The distance from vehicle and target vehicle is gathered, when being less than threshold value L0 from vehicle and target vehicle minimum range, judges vehicle
Be in risk of collision state；
When vehicle while in deviation state and risk of collision state, the active steering operation of driver is sentenced
It is disconnected, when driver operates there is no active steering, output alarm signal.
Further, in real time to deviation state, risk of collision state and driver during output alarm signal
Active steering operation is monitored, and when meeting, vehicle is not at deviation state, vehicle is not at risk of collision state, drives
Member there are active steering operate in any one or more when, stop alarm signal output.
Further, the continuous output time of alarm signal is recorded, when the continuous output time of alarm signal reaches
To threshold value T, then stop alarm signal output.
Further, when having detected that steering modulating signal and steering column stress torque are more than 5N.m, it is judged as driving
There are active steering operations by member.
Further, the target vehicle is to track or lateral track vehicle.
For a kind of Lane Departure Warning System of the present invention, technical solution is, including：
Environmental assessment signal element：For gathering from vehicle travel route, according to from vehicle travel route and lane line most narrow spacing
From judging vehicle whether in deviation state；Gather from the distance of vehicle and target vehicle, according to from vehicle and target vehicle most
Whether small distance judges vehicle in risk of collision state, and deviation status signal and risk of collision status signal are exported
To driver status assessment signal unit；
Driver status assessment signal unit：For receiving deviation status signal and risk of collision status signal
Judge that driver operates with the presence or absence of active steering afterwards, and result is exported to pre-alarm signal processing unit；
Pre-alarm signal processing unit：After the signal that driver status assessment signal unit is sent is received, according to connecing
The signal received judges whether to alarm signal output.
Further, the environmental assessment signal element includes traffic route evaluation module and target vehicle evaluation module；
The traffic route evaluation module is for gathering from vehicle travel route, according to minimum from vehicle travel route and lane line
Whether Distance Judgment vehicle is in deviation state；
The target vehicle evaluation module for gathering from the distance of vehicle and target vehicle, according to from vehicle and target vehicle most
Whether small distance judges vehicle in risk of collision state.
Further, pre-warning time accumulated unit is further included, for receiving the alarm of pre-alarm signal processing unit output
Signal, and the continuous output time of alarm signal is recorded；
Deviation state, vehicle are not at when the continuous output time of alarm signal reaches threshold value T or meets vehicle not
In risk of collision state, driver there are active steering operate in any one or more when, export stop alarm signal；
Otherwise export and continue alarm signal.
Further, actuation of an alarm execution unit is further included, for the lasting report exported according to pre-warning time accumulated unit
Alert signal carries out the stop alarm signal stop alarm for continuing alarm or being exported according to pre-warning time accumulated unit.
Further, when having detected that steering modulating signal and steering column stress torque are more than 5N.m, it is judged as driving
There are active steering operations by member.
Beneficial effects of the present invention：The system meet Chinese driver's driving behavior custom, particularly, when driver due to
When driving behavior is accustomed to and frequently walks near lane line, system gives driving safety assessment, is judging driving in non-
Under the premise of emergency risks state, certain tolerance condition is set to deviation situation, i.e., when driving near lane line but simultaneously
When there is no risk of collision, without alarm.And the stop alarm in the case where alarm reaches the nominal time or danger has released,
Frequent alarm is prevented, meets crew comfort drive demand.
Description of the drawings
Fig. 1 is a kind of module connection diagram of Lane Departure Warning System of the present invention；
Fig. 2 is a kind of flow diagram of lane departure warning method of the present invention；
In figure：1-environmental assessment signal element, 1-1-traffic route evaluation module, 1-2-target vehicle evaluation module,
2-driver status assessment signal unit, 3-pre-alarm signal processing unit, 4-pre-warning time accumulated unit, 5-alarm are dynamic
Make execution unit.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
As illustrated in fig. 1 and 2, a kind of Lane Departure Warning System of the present invention includes environmental assessment signal element 1, driver's shape
State assessment signal unit 2, pre-alarm signal processing unit 3, pre-warning time accumulated unit 4, actuation of an alarm execution unit 5.
The workflow of the system is as follows：Environmental assessment signal element 1 includes traffic route evaluation module 1-1 and target carriage
Evaluation module 1-2.Traffic route evaluation module 1-1 is used for based on camera or radar, to from vehicle history run route and working as
Preceding route is assessed, and when the minimum range d of vehicle running route and lane line is less than the drift rate threshold value d0 of setting, is judged
Vehicle is in deviation state.Target vehicle evaluation module 1-2 is based on assembling camera or radar from vehicle, chooses target track
Vehicle current driving location is reference in (the lateral track such as to overtaking other vehicles to track or in advance), measure from vehicle and target vehicle away from
From.When the two minimum range L is less than the threshold value L0 of setting, it is believed that target vehicle, there are risk of collision, is judged from vehicle with this vehicle
In risk of collision state.
When driver status assessment signal unit 2 receives the deviation state letter of the transmission of environmental assessment signal element 1
Number and risk of collision status signal after, with reference to from vehicle identifying system extract from vehicle driving information (such as steering indicating light, wheel velocity,
Plus-minus speed pedal and steering column torque etc. signals) driver is judged with the presence or absence of active steering operation, if detecting
Have that when turning to modulating signal and steering column stress torque and being more than 5N.m, being judged as driver, there are active steering operations.
After pre-alarm signal processing unit 3 receives the signal that driver status assessment signal unit 2 is sent, according to reception
To signal judge whether to alarm signal output.When the signal that driver status assessment signal unit 2 is sent is at vehicle
In deviation state, risk of collision state is in from vehicle, and there is no active steering operations by driver, then it is assumed that vehicle meets
Alert if, pre-alarm signal processing unit 3 send alarm signal to pre-warning time accumulated unit 4.
After pre-warning time accumulated unit 4 receives the alarm signal of pre-alarm signal processing unit output, to alarm signal
Continuous output time recorded.Track is not at when the continuous output time of alarm signal reaches threshold value T or meets vehicle
Deviation state, vehicle be not at risk of collision state, driver there are active steering operate in any one or more when, it is defeated
Go out stop alarm signal to actuation of an alarm execution unit, otherwise export and continue alarm signal to actuation of an alarm execution unit 5.Its
In, threshold value T is set according to the limit of restraining oneself of driver.
Actuation of an alarm execution unit 5 carries out continuing alarm according to the lasting alarm signal that pre-warning time accumulated unit 4 exports,
Or the stop alarm signal stop alarm exported according to pre-warning time accumulated unit.
The above description is merely a specific embodiment, it is noted that any those skilled in the art exist
Disclosed herein technical scope in, the change or replacement that can readily occur in, should all cover protection scope of the present invention it
It is interior.
Claims (10)
1. a kind of lane departure warning method, it is characterised in that：
Acquisition, when being less than irrelevance threshold value d0 from vehicle travel route and lane line minimum range, judges vehicle from vehicle travel route
Be in deviation state；
The distance from vehicle and target vehicle is gathered, when being less than threshold value L0 from vehicle and target vehicle minimum range, is judged at vehicle
In risk of collision state；
When vehicle while deviation state and risk of collision state are in, the active steering operation of driver is judged,
When driver operates there is no active steering, output alarm signal.
2. lane departure warning method as described in claim 1, it is characterised in that：In real time to vehicle during output alarm signal
Road deviates state, risk of collision state and the operation of driver's active steering and is monitored, and deviation is not at when meeting vehicle
State, vehicle be not at risk of collision state, driver there are active steering operate in any one or more when, stop report
Alert signal output.
3. lane departure warning method as described in claim 1, it is characterised in that：The continuous output time of alarm signal is carried out
Record, when the continuous output time of alarm signal reaches threshold value T, then stop alarm signal output.
4. lane departure warning method as described in claim 1, it is characterised in that：Modulating signal and steering tube are turned to when having detected
When column stress torque is more than 5N.m, being judged as driver, there are active steering operations.
5. lane departure warning method as described in claim 1, it is characterised in that：The target vehicle is to track or laterally
Track vehicle.
6. a kind of Lane Departure Warning System, which is characterized in that including：
Environmental assessment signal element (1)：For gathering from vehicle travel route, according to from vehicle travel route and lane line minimum range
Judge vehicle whether in deviation state；The distance from vehicle and target vehicle is gathered, according to minimum from vehicle and target vehicle
Distance Judgment vehicle whether in risk of collision state, and by deviation status signal and risk of collision status signal export to
Driver status assessment signal unit (2)；
Driver status assessment signal unit (2)：For receiving deviation status signal and risk of collision status signal
Judge that driver operates with the presence or absence of active steering afterwards, and result is exported to pre-alarm signal processing unit (3)；
Pre-alarm signal processing unit (3)：After the signal that driver status assessment signal unit is sent is received, according to reception
To signal judge whether to alarm signal output.
7. Lane Departure Warning System as claimed in claim 6, it is characterised in that：The environmental assessment signal element (1) includes
Traffic route evaluation module (1-1) and target vehicle evaluation module (1-2)；
The traffic route evaluation module (1-1) for gathering from vehicle travel route, according to from vehicle travel route and lane line most
Whether small distance judges vehicle in deviation state；
The target vehicle evaluation module (1-2) is for gathering from the distance of vehicle and target vehicle, according to from vehicle and target vehicle
Whether minimum range judges vehicle in risk of collision state.
8. Lane Departure Warning System as claimed in claim 6, it is characterised in that：Pre-warning time accumulated unit (4) is further included, is used
In the alarm signal of reception pre-alarm signal processing unit output, and the continuous output time of alarm signal is recorded；
When the continuous output time of alarm signal reaches threshold value T or meets that vehicle is not at deviation state, vehicle is not at
Risk of collision state, driver there are active steering operate in any one or more when, export stop alarm signal；Otherwise
Output continues alarm signal.
9. Lane Departure Warning System as claimed in claim 8, it is characterised in that：Actuation of an alarm execution unit (5) is further included, is used
It carries out continuing alarm or defeated according to pre-warning time accumulated unit in the lasting alarm signal exported according to pre-warning time accumulated unit
The stop alarm signal stop alarm gone out.
10. Lane Departure Warning System as claimed in claim 6, it is characterised in that：Modulating signal and steering are turned to when having detected
When tubing string stress torque is more than 5N.m, being judged as driver, there are active steering operations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345161.4A CN108099819B (en) | 2017-12-15 | 2017-12-15 | Lane departure early warning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345161.4A CN108099819B (en) | 2017-12-15 | 2017-12-15 | Lane departure early warning system and method |
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| Publication Number | Publication Date |
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| CN108099819A true CN108099819A (en) | 2018-06-01 |
| CN108099819B CN108099819B (en) | 2020-07-03 |
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ID=62217019
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| CN201711345161.4A Active CN108099819B (en) | 2017-12-15 | 2017-12-15 | Lane departure early warning system and method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110688877A (en) * | 2018-07-05 | 2020-01-14 | 杭州海康威视数字技术股份有限公司 | Danger early warning method, device, equipment and storage medium |
| CN110853342A (en) * | 2018-07-24 | 2020-02-28 | 东旭科技集团有限公司 | Method and device for determining driving state, street lamp and readable storage medium |
| CN111891135A (en) * | 2020-06-29 | 2020-11-06 | 东风商用车有限公司 | Multi-vehicle frequent alarm control method in blind area |
| CN112172829A (en) * | 2020-10-23 | 2021-01-05 | 科大讯飞股份有限公司 | Lane departure warning method and device, electronic equipment and storage medium |
| CN112428970A (en) * | 2020-11-13 | 2021-03-02 | 宝能(广州)汽车研究院有限公司 | Braking method for public transport vehicle during running deviation and public transport vehicle |
| CN112977318A (en) * | 2019-12-12 | 2021-06-18 | 观致汽车有限公司 | Control method of collision early warning system of vehicle, collision early warning system and vehicle |
| CN113060067A (en) * | 2021-04-07 | 2021-07-02 | 深圳市大班长科技有限公司 | Early warning method and device for automobile deviating from lane |
| CN113665584A (en) * | 2021-09-28 | 2021-11-19 | 奇瑞新能源汽车股份有限公司 | Vehicle early warning method and device |
| CN116968765A (en) * | 2023-09-21 | 2023-10-31 | 常州星宇车灯股份有限公司 | Lane departure warning method and system with self-adaptive warning time interval |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110688877A (en) * | 2018-07-05 | 2020-01-14 | 杭州海康威视数字技术股份有限公司 | Danger early warning method, device, equipment and storage medium |
| CN110688877B (en) * | 2018-07-05 | 2022-08-05 | 杭州海康威视数字技术股份有限公司 | Danger early warning method, device, equipment and storage medium |
| CN110853342A (en) * | 2018-07-24 | 2020-02-28 | 东旭科技集团有限公司 | Method and device for determining driving state, street lamp and readable storage medium |
| CN112977318A (en) * | 2019-12-12 | 2021-06-18 | 观致汽车有限公司 | Control method of collision early warning system of vehicle, collision early warning system and vehicle |
| CN111891135A (en) * | 2020-06-29 | 2020-11-06 | 东风商用车有限公司 | Multi-vehicle frequent alarm control method in blind area |
| CN112172829A (en) * | 2020-10-23 | 2021-01-05 | 科大讯飞股份有限公司 | Lane departure warning method and device, electronic equipment and storage medium |
| CN112172829B (en) * | 2020-10-23 | 2022-05-17 | 科大讯飞股份有限公司 | Lane departure warning method and device, electronic equipment and storage medium |
| CN112428970A (en) * | 2020-11-13 | 2021-03-02 | 宝能(广州)汽车研究院有限公司 | Braking method for public transport vehicle during running deviation and public transport vehicle |
| CN113060067A (en) * | 2021-04-07 | 2021-07-02 | 深圳市大班长科技有限公司 | Early warning method and device for automobile deviating from lane |
| CN113665584A (en) * | 2021-09-28 | 2021-11-19 | 奇瑞新能源汽车股份有限公司 | Vehicle early warning method and device |
| CN116968765A (en) * | 2023-09-21 | 2023-10-31 | 常州星宇车灯股份有限公司 | Lane departure warning method and system with self-adaptive warning time interval |
| CN116968765B (en) * | 2023-09-21 | 2023-12-05 | 常州星宇车灯股份有限公司 | Lane departure warning method and system with self-adaptive warning time interval |
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|---|---|
| CN108099819B (en) | 2020-07-03 |
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