CN108583584B - Lane departure warning method and system - Google Patents

Lane departure warning method and system Download PDF

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Publication number
CN108583584B
CN108583584B CN201810326124.7A CN201810326124A CN108583584B CN 108583584 B CN108583584 B CN 108583584B CN 201810326124 A CN201810326124 A CN 201810326124A CN 108583584 B CN108583584 B CN 108583584B
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lane
vehicle
detecting whether
condition
control unit
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CN108583584A (en
Inventor
褚永强
何少斌
刘奎
李卫兵
刘江波
李东浩
束照坤
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention belongs to the technical field of automobile active defense, and particularly relates to a lane departure warning method and a lane departure warning system, wherein the method comprises the following steps: acquiring a current vehicle speed; detecting whether the vehicle speed is greater than a set speed value; if so, acquiring lane line information; detecting whether the vehicle deviates from a first set value or not according to the lane line information; if so, detecting whether an active lane departure condition is met; if not, the control instrument gives an alarm. By the method and the device, the non-active departure of the lane line can be intelligently judged, so that repeated or redundant alarm is avoided.

Description

Lane departure warning method and system
Technical Field
The invention belongs to the technical field of automobile active defense, and particularly relates to a lane departure warning method and system.
Background
Experts point out that about 50% of automobile accidents on expressways are caused by deviation from a normal driving lane, and the main reasons for the accidents are distraction, inattention or fatigue driving of drivers. The Lane Departure Warning System (LDWS) provides intelligent lane departure Warning, gives out Warning after the lane departure, provides more reaction time for a driver, and greatly reduces collision accidents caused by lane departure, which is another safety device installed in an automobile after a safety belt and a safety steam bag.
The lane departure warning system identifies lane lines on a current road through a camera and a control unit which are arranged at a front windshield, then vehicle information such as vehicle width, wheel base and the like is written into the control unit, lane line information acquired through a large number of road test tests in the early stage is used as reference and judgment basis, position and direction information of a vehicle in the lane are determined through proper conversion of the control unit, then according to the current speed and the distance of departure lane lines, whether the vehicle is about to depart from the current lane lines at the current state or not is determined through calculation and an early warning model assumed in software, if wheels are pressed down the lane lines, the system gives an alarm through sound and instruments, and the driver is prompted of danger at present.
The above method is suitable for the situation that the driver unconsciously deviates from the lane, however, when the driver consciously deviates from the lane, if the LDWS still frequently gives an alarm, the normal driving and the daily driving comfort of the driver can be influenced.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the invention provides a lane departure warning method and system, which are used for intelligently judging the lane departure without initiative so as to avoid repeated or redundant warning.
In order to achieve the purpose, the invention provides the following technical scheme:
a lane departure warning method, the method comprising:
acquiring a current vehicle speed;
detecting whether the vehicle speed is greater than a set speed value;
if so, acquiring lane line information;
detecting whether the vehicle deviates from a first set value or not according to the lane line information;
if so, detecting whether an active lane departure condition is met;
if not, the control instrument gives an alarm.
Preferably, the method further comprises:
before the vehicle speed is obtained, whether a control switch signal exists is detected;
if so, the vehicle speed is obtained.
Preferably, the method further comprises:
before detecting whether the vehicle deviates from a first set value, detecting whether the lane line meets a narrow lane condition according to the lane line information;
if yes, detecting whether the vehicle deviates from a second set value; the second set value is greater than the first set value, and the second set value is equal to the sum of the first set value and a set distance;
if so, detecting whether an active lane departure condition is met;
if not, the control instrument gives an alarm.
Preferably, the method further comprises:
when the lane line does not meet the narrow lane condition, acquiring the yaw angular speed;
calculating the curvature radius of the current curve according to the yaw angular velocity and the vehicle speed;
detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius; wherein the second set radius of curvature is greater than the first set radius of curvature;
if yes, detecting whether the vehicle deviates from the second set value;
if so, detecting whether an active lane departure condition is met;
if not, the control instrument gives an alarm.
Preferably, the active lane departure condition includes:
1) the turn signal light in the same direction as the lane departure is turned on;
2) the double-flash switch is turned on;
3) the steering wheel turning speed is greater than the set speed;
4) the brake pressure value is greater than the set pressure.
A lane departure warning system, the system comprising: the instrument and the camera are mounted on the vehicle; the system further comprises: the control unit is connected with the instrument and the condition detection device through a CAN bus respectively, the control unit is connected with the vehicle speed detection device, and the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value or not; if the vehicle lane departure warning device is used, acquiring lane line information through the camera, detecting whether the vehicle deviates from a first set value according to the lane line information, if so, detecting whether the vehicle meets an active deviation condition through the condition detection device, and if not, controlling the instrument to give an alarm through the CAN bus.
Preferably, the system further comprises:
the control switch is electrically connected with the control unit; after receiving the control switch signal, the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value; if the vehicle deviates from the first set value, detecting whether the vehicle deviates from the first set value actively, and if not, controlling the instrument to give an alarm through the CAN bus.
Preferably, the control unit detects whether the lane line meets a narrow lane condition according to the lane line information before detecting whether the vehicle deviates from a first set value; if yes, detecting whether the vehicle deviates from a second set value; the second set value is greater than the first set value, and the second set value is equal to the sum of the first set value and a set distance; if yes, the control unit detects whether an active lane departure condition is met; if not, the CAN bus control instrument gives an alarm.
Preferably, the vehicle speed detection device includes: the vehicle speed sensor or/and a vehicle body stabilizing system is connected with the control unit through a CAN bus;
when the lane does not meet the narrow lane condition, the control unit acquires the yaw velocity from the vehicle body stabilizing system through the CAN bus and acquires the vehicle speed through the vehicle speed sensor; calculating the current curvature radius of the curve according to the yaw angular velocity and the vehicle speed, and detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius, wherein the second set curvature radius is larger than the first set curvature radius; if yes, the control unit detects whether the vehicle deviates from the second set value; if so, detecting whether an active lane departure condition is met; and if not, the control unit controls the instrument to alarm through the CAN bus.
Preferably, the condition detecting means includes: the vehicle body controller and the electronic steering system are respectively connected with the control unit through a CAN bus; the control unit acquires a steering lamp signal, a double-flash switch signal and a brake pressure value from the vehicle body controller so as to detect whether the steering lamp and the double-flash switch are turned on or not and whether the brake pressure value is greater than a set pressure or not; the control unit acquires a steering wheel angle from the electronic steering system and calculates a steering wheel angle rate according to the steering wheel angle; the control unit determines that the vehicle meets an active deviation condition when any one or more of a steering lamp which deviates from the lane in the same direction, a double-flash switch which is turned on, a brake pressure value which is greater than a set pressure and a steering wheel turning speed value which is greater than a set speed are turned on.
The invention has the beneficial effects that:
according to the lane departure warning method and system provided by the embodiment of the invention, when the vehicle speed is greater than the set speed value, the control unit acquires the lane line information through the camera, detects whether the vehicle departs from the first set value according to the lane line information, if so, detects whether the vehicle meets the active departure condition, and if not, controls the instrument to give a warning through the CAN bus. The invention can intelligently judge whether the lane line deviates from the lane line actively, thereby avoiding repeated or redundant alarm.
Drawings
Fig. 1 is a first flowchart of a lane departure warning method according to an embodiment of the present invention.
Fig. 2 is a second flowchart of a lane departure warning method according to an embodiment of the present invention.
Fig. 3 is a third flowchart of a lane departure warning method according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a lane departure warning system according to an embodiment of the present invention.
Detailed Description
So that those skilled in the art can further understand the features and technical contents of the present invention, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and the embodiments.
Fig. 1 shows a flowchart of a lane departure warning method according to an embodiment of the present invention, which includes:
step 100: and starting.
Step 101: and acquiring the current vehicle speed.
In particular, the vehicle speed CAN be obtained directly from a vehicle speed sensor or/and from a vehicle body stabilization system via a CAN bus, in particular the vehicle speed signal is sent to the vehicle body CAN network via the vehicle body stabilization system of the vehicle.
Step 102: detecting whether the vehicle speed is greater than a set speed value; if yes, go to step 103; otherwise, step 102 is performed.
Specifically, the lane departure warning system considers a situation where fatigue driving occurs in a case of high-speed driving for a long time, so that the driver is not concentrated on a scene causing departure from a lane line, and therefore, first, determines a vehicle speed condition, and when the vehicle speed is greater than a set vehicle speed value, the lane departure warning system can normally detect the lane departure condition. It should be noted that the set speed value is determined according to the speed calibration of different vehicles under different road conditions, for example, the set speed value is 60 km/h.
Step 103: and acquiring lane line information.
Step 104: detecting whether the vehicle deviates from a first set value or not according to the lane line information; if yes, go to step 105; otherwise, step 102 is performed.
Specifically, lane lines on two sides of the vehicle in running can be identified through the camera, then whether two wheels in front of the vehicle press the lane lines or not is judged by combining signals such as the width of the whole vehicle and the wheel base, and if the wheels on two sides in front of the vehicle press the lane lines on the corresponding side or deviate from a first set value, the lane deviation is determined. It should be noted that the first set value may be determined by calibration according to different roads and vehicle types, for example, the first set value is a distance that the outer edge of one side wheel exceeds the side lane line by 0.01 m.
Step 105: detecting whether an active lane departure condition is met; if yes, executing step 102; otherwise, step 106 is performed.
Specifically, the active lane departure condition includes:
1) the turn signal light in the same direction as the lane departure is turned on. Specifically, the turn signal is obtained from the vehicle body controller through the CAN bus, the turn signal is the most intuitive judgment condition for distinguishing whether the driver wants to change lanes, and if the turn signal is turned on, even if the vehicle deviates from the lane line on the side corresponding to the indication direction of the turn signal, the alarm should not be given.
2) The double flash switch is turned on. Specifically, the double-flash switch CAN be obtained from the vehicle body controller through the CAN bus, and after the double-flash switch is turned on, the situation that a driver actively drives and controls the vehicle is indicated, and the safety of surrounding vehicles is indicated, so that after the double-flash switch is turned on, even if the vehicle deviates from a lane line, no alarm is needed.
3) The steering wheel turning rate is greater than the set rate. Specifically, the steering wheel turning rate is a steering wheel turning angle change value in unit time, and the steering wheel turning angle CAN be obtained from an electronic steering system through a CAN bus, in the embodiment, whether a driver is actively operating a vehicle is judged by judging the rate of steering wheel turning angle change (steering wheel turning rate), and through a large amount of experimental data tests, when the set rate is 0.8rad/s, the situation that the driver wants to actively change lanes to drive CAN be represented, and at the moment, even if lane changing occurs, an alarm should not be given.
4) The brake pressure value is greater than the set pressure. Specifically, the brake pressure value CAN be obtained from a vehicle body stabilizing system through a CAN bus, in the embodiment, whether a driver is actively operating the vehicle CAN be judged by judging whether the brake is pressed down, when the set pressure is greater than 8bar, the driver CAN be represented to actively press down the brake to intervene the vehicle, and at the moment, even if the deviation from a lane line occurs, an alarm should not be given.
Step 106: and controlling the instrument to alarm.
Specifically, the vehicle instrument is provided with an indicator light and a display screen, when the alarm is given through the instrument, the alarm can be given through the indicator light or/and the display screen, for example, the information of the direction of the vehicle deviating from the lane is displayed through the display screen, so that the driver cannot be effectively prompted to notice the information of the direction of the vehicle deviating from the lane in order to avoid the situation that the image display time is too short, and the alarm information can be indicated through the indicator light in real time.
Step 107: and (6) ending.
The lane departure warning method provided by the embodiment of the invention obtains the current speed; detecting whether the vehicle speed is greater than a set speed value; if so, acquiring lane line information; detecting whether the vehicle deviates from a first set value or not according to the lane line information; if so, detecting whether an active lane departure condition is met; if not, the control instrument gives an alarm. The invention is used for optimizing the alarm condition of the existing lane departure system on the highway, and the alarm is closed when the driver intentionally departs from the lane; and timely gives an alarm when the driver unconsciously deviates from the current lane.
Further, in order to avoid unnecessary warning from the lane departure system when the vehicle is running on a narrow road, as shown in fig. 2, a second flowchart of the lane departure warning method according to the embodiment of the present invention is shown, and includes the following steps:
step 200: and starting.
Step 201: detecting whether a control switch signal exists; if yes, go to step 202; otherwise, step 209 is performed.
It should be noted that, a control switch is arranged at the center control panel of the vehicle, the switch can be a self-reset switch, after each power-on cycle, the LDWS system is turned on by default, and a driver can set the on and off of the system by pressing the control switch. The mark symbol on the control switch is consistent with the indicator light symbol on the instrument, thereby being convenient for the user to identify. The method comprises the following specific steps: 1) each power-on cycle of the LDWS system is started by default, and after the system is started, a driver can close the system by pressing a control switch; 2) when the ignition lock is in an ON gear and the system is in a closed state, a driver can start the system by pressing the control switch.
Step 202: and acquiring the current vehicle speed.
Step 203: detecting whether the vehicle speed is greater than a set speed value; if yes, go to step 204; otherwise, step 203 is executed.
Step 204: and acquiring lane line information.
Step 205: detecting whether the lane line meets a narrow lane condition or not according to the lane line information; if so, go to step 206; otherwise, step 210 is performed.
It should be noted that the lane line information includes the current lane width, and the narrow lane condition is: when the current lane width is within a first set width range, for example, the normal lane width range is (2.5m, 5m), and the first set width range is (2.5m, 3m), it is determined that the lane line satisfies the narrow lane condition.
Step 206: detecting whether the vehicle deviates from a second set value, wherein the second set value is larger than the first set value and is equal to the sum of the first set value and a set distance; if yes, go to step 207; otherwise, step 206 is performed.
Specifically, the set distance may be determined by calibration according to different road conditions, for example, the set distance is 0.1 m. In the embodiment, when the camera recognizes that the lane is too narrow, the corresponding lane departure is expanded by 0.1m, the alarm is delayed, and the lane departure alarm caused by the fact that the vehicle frequently presses the lane due to the fact that the lane is too narrow is avoided.
Step 207: detecting whether an active lane departure condition is met; if yes, go to step 203; otherwise, step 208 is performed.
Step 208: and controlling the instrument to alarm.
Step 209: and (6) ending.
Step 210: detecting whether the vehicle deviates from a first set value or not according to the lane line information; if yes, go to step 207-step 209; otherwise, step 203 is executed.
According to the lane departure warning method provided by the embodiment of the invention, when the vehicle runs on a narrow lane, the lane departure warning system carries out a narrow lane adaptation mode under the condition that the lane line is identified to be too narrow through the camera, and the corresponding lane line is extended by a set distance in the narrow lane adaptation mode, so that the occurrence of warning is delayed, and unnecessary warning caused by the fact that the lane line is too narrow and the vehicle frequently falls down the lane line is avoided.
Further, in order to avoid unnecessary warning from the lane departure system when the vehicle is traveling in a curve, as shown in fig. 3, a third flowchart of the lane departure warning method according to the embodiment of the present invention includes the following steps:
step 300: and starting.
Step 301: detecting whether a control switch signal exists; if yes, go to step 302; otherwise, step 309 is performed.
Step 302: and acquiring the current vehicle speed.
Step 303: detecting whether the vehicle speed is greater than a set speed value; if so, go to step 304; otherwise, step 303 is performed.
Step 304: and acquiring lane line information.
Step 305: detecting whether the lane line meets a narrow lane condition or not according to the lane line information; if yes, go to step 306; otherwise, step 310 is performed.
Step 306: detecting whether the vehicle deviates from a second set value, wherein the second set value is larger than the first set value and is equal to the sum of the first set value and a set distance; if yes, go to step 307; otherwise, step 306 is performed.
Step 307: detecting whether an active lane departure condition is met; if yes, go to step 303; otherwise, step 308 is performed.
Step 308: and controlling the instrument to alarm.
Step 309: and (6) ending.
Step 310: the yaw rate is acquired.
Step 311: and calculating the curvature radius of the current curve according to the yaw angular velocity and the vehicle speed.
Specifically, the current curve radius of curvature is the current vehicle speed/yaw rate.
Step 312: detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius, wherein the second set curvature radius is larger than the first set curvature radius; if yes, go to step 306 to step 309; otherwise, step 313 is performed.
Specifically, when the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius, the vehicle enters a curve mode, and at the moment, the corresponding departure lane line needs to be extended by a set distance to delay the occurrence of an alarm and avoid the occurrence of unnecessary alarms during the curve. It should be noted that the first set curvature radius and the second set curvature radius may be determined by calibration according to different vehicle types and road conditions, for example, the first set curvature radius is 0.002m-1And a second set radius of curvature of 0.004m-1。
Step 313: detecting whether the vehicle deviates from a first set value or not according to the lane line information; if yes, go to step 307-step 309; otherwise, step 303 is performed.
According to the lane departure warning method provided by the embodiment of the invention, when the vehicle runs on a narrow lane, the lane departure warning system carries out a narrow lane adaptation mode under the condition that the lane line is identified to be too narrow through the camera, and the corresponding lane line is extended by a set distance in the narrow lane adaptation mode, so that the occurrence of warning is delayed, and unnecessary warning caused by the fact that the lane line is too narrow and the vehicle frequently falls down the lane line is avoided.
In view of the above method, the present invention also provides a lane departure warning system, as shown in fig. 4, the system including: the instrument and the camera are mounted on the vehicle; the system further comprises: the control unit is connected with the instrument and the condition detection device through a CAN bus respectively, the control unit is connected with the vehicle speed detection device, and the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value or not; if the vehicle lane departure warning device is used, acquiring lane line information through the camera, detecting whether the vehicle deviates from a first set value according to the lane line information, if so, detecting whether the vehicle meets an active deviation condition through the condition detection device, and if not, controlling the instrument to give an alarm through the CAN bus. It should be noted that the set speed value is determined according to the speed calibration of different vehicles under different road conditions, for example, the set speed value is 60 km/h. The first set value may be determined by calibration according to different roads and vehicle types, for example, the first set value is 0.01 m.
Specifically, the vehicle speed detection device includes: the vehicle speed sensor or/and a vehicle body stabilizing system is connected with the control unit through a CAN bus; the vehicle speed sensor is electrically connected with the control unit, and the vehicle body stabilizing system is connected with the control unit through a CAN bus. In the embodiment of the present invention, the vehicle body stabilization system is a conventional ESP system (electronic stability Program), which is actually a traction control system that controls not only the drive wheels but also the driven wheels, as compared with other traction control systems. If the rear wheel drives the car to frequently turn to the excessive condition, the rear wheel is out of control and the tail is thrown at the moment, the ESP can brake the front wheel on the outer side slowly to stabilize the car; when the steering is too small, the ESP will slow down the inner rear wheel to correct the tracking direction, thereby correcting the driving direction. ESP is particularly sensitive to oversteer or understeer, for example, when the vehicle is left-handed (turning too sharply) during road skidding, the sensor senses the skidding and brakes the right front wheel quickly to restore adhesion, creating an opposing torque to keep the vehicle in the original lane. Of course, everything has a certain range, and if a driver blindly drives a car, any safety device at present is difficult to preserve.
Specifically, the active lane departure condition includes: 1) the turn signal light in the same direction as the lane departure is turned on; 2) the double-flash switch is turned on; 3) the steering wheel turning speed is greater than the set speed; 4) the brake pressure value is greater than the set pressure. The condition detecting means comprises: the vehicle body controller and the electronic steering system are respectively connected with the controller unit through a CAN bus; the control unit acquires a steering lamp signal, a double-flash switch signal and a brake pressure value through the automobile body controller so as to detect whether the steering lamp and the double-flash switch are turned on or not and whether the brake pressure value is greater than a set pressure or not; the control unit acquires a steering wheel angle from the electronic steering system, calculates a steering wheel angle rate according to the steering wheel angle and calculates the steering wheel angle rate according to the steering wheel angle; the control unit determines that the vehicle meets an active deviation condition when any one or more of a steering lamp in the same direction as the lane deviation, a double-flash switch, a brake pressure value is larger than a set pressure, and a steering wheel turning speed is larger than a set speed is right.
It should be noted that, in the embodiment of the present invention, the electronic Steering system refers to a conventional EPS system (electronic power Steering system), and the EPS system generally includes a mechanical Steering system, a torque sensor, a vehicle speed sensor, an electronic control unit, a speed reducer, an electric motor, and the like.
Further, in order to properly control the operation of the system, in another embodiment of the present invention, the system may further include: the control switch is electrically connected with the control unit; after receiving the control switch signal, the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value; if the vehicle deviates from the first set value, detecting whether the vehicle deviates from the first set value actively, and if not, controlling the instrument to give an alarm through the CAN bus.
In another embodiment of the present invention, the control unit detects whether a lane line satisfies a narrow lane condition based on the lane line information before detecting whether the vehicle deviates from a first set value; if yes, detecting whether the vehicle deviates from a second set value; the second set value is greater than the first set value, and the second set value is equal to the sum of the first set value and a set distance; if yes, the control unit detects whether an active lane departure condition is met; if not, the CAN bus control instrument gives an alarm.
In another embodiment of the present invention, a vehicle speed detection device includes: when the vehicle speed sensor and the vehicle body stabilizing system are used, the control unit obtains a yaw velocity from the vehicle body stabilizing system through the CAN bus when a lane does not meet a narrow lane condition, and the vehicle speed sensor obtains a vehicle speed; calculating the current curvature radius of the curve according to the yaw angular velocity and the vehicle speed, and detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius; wherein the second set radius of curvature is greater than the first set radius of curvature; if yes, the control unit detects whether the vehicle deviates from the second set value; if so, detecting whether an active lane departure condition is met; and if not, the control unit controls the instrument to alarm through the CAN bus.
The foregoing detailed description of the embodiments of the present invention has been presented for purposes of illustration and description, and is intended to be exemplary only of the systems and methods for understanding the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (6)

1. A lane departure warning method, characterized in that the method comprises:
acquiring a current vehicle speed;
detecting whether the vehicle speed is greater than a set speed value;
if so, acquiring lane line information;
detecting whether the vehicle deviates from a first set value or not according to the lane line information;
if so, detecting whether an active lane departure condition is met;
if the result of detecting whether the driving lane departure condition is met is negative, controlling the instrument to give an alarm;
the method further comprises the following steps:
before detecting whether the vehicle deviates from a first set value, detecting whether the lane line meets a narrow lane condition according to the lane line information;
if yes, detecting whether the vehicle deviates from a second set value; the second set value is greater than the first set value, and the second set value is equal to the sum of the first set value and a set distance;
if so, detecting whether an active lane departure condition is met;
if the result of detecting whether the driving lane departure condition is met is negative, controlling the instrument to give an alarm;
the method further comprises the following steps:
when the lane line does not meet the narrow lane condition, acquiring the yaw angular speed;
calculating the curvature radius of the current curve according to the yaw angular velocity and the vehicle speed;
detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius; wherein the second set radius of curvature is greater than the first set radius of curvature;
if yes, detecting whether the vehicle deviates from the second set value;
if so, detecting whether an active lane departure condition is met;
and if the result of detecting whether the driving lane departure condition is met is negative, controlling the instrument to give an alarm.
2. The lane departure warning method according to claim 1, further comprising:
before the vehicle speed is obtained, whether a control switch signal exists is detected;
if so, the vehicle speed is obtained.
3. The lane departure warning method according to claim 1, wherein the active lane departure condition includes:
1) the turn signal light in the same direction as the lane departure is turned on;
2) the double-flash switch is turned on;
3) the steering wheel turning speed is greater than the set speed;
4) the brake pressure value is greater than the set pressure.
4. A lane departure warning system, the system comprising: the instrument and the camera are mounted on the vehicle; characterized in that the system further comprises: the control unit is connected with the instrument and the condition detection device through a CAN bus respectively, the control unit is connected with the vehicle speed detection device, and the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value or not; if yes, acquiring lane line information through the camera, detecting whether the vehicle deviates from a first set value according to the lane line information, if yes, detecting whether the vehicle meets an active deviation condition through the condition detection device, and if not, controlling the instrument to give an alarm through a CAN bus;
the control unit detects whether the lane line meets a narrow lane condition according to the lane line information before detecting whether the vehicle deviates from a first set value; if yes, detecting whether the vehicle deviates from a second set value; the second set value is greater than the first set value, and the second set value is equal to the sum of the first set value and a set distance; if yes, the control unit detects whether an active lane departure condition is met; if not, the CAN bus control instrument gives an alarm;
the vehicle speed detection device includes: the vehicle speed sensor or/and a vehicle body stabilizing system is connected with the control unit through a CAN bus;
when the lane does not meet the narrow lane condition, the control unit acquires the yaw velocity from the vehicle body stabilizing system through the CAN bus and acquires the vehicle speed through the vehicle speed sensor; calculating the current curvature radius of the curve according to the yaw angular velocity and the vehicle speed, and detecting whether the curvature radius of the curve is larger than a first set curvature radius and smaller than a second set curvature radius, wherein the second set curvature radius is larger than the first set curvature radius; if yes, the control unit detects whether the vehicle deviates from the second set value; if so, detecting whether an active lane departure condition is met; and if not, the control unit controls the instrument to alarm through the CAN bus.
5. The lane departure warning system according to claim 4, further comprising:
the control switch is electrically connected with the control unit; after receiving the control switch signal, the control unit acquires the current vehicle speed through the vehicle speed detection device and detects whether the vehicle speed is greater than a set speed value; if the vehicle deviates from the first set value, detecting whether the vehicle deviates from the first set value actively, and if not, controlling the instrument to give an alarm through the CAN bus.
6. The lane departure warning system according to claim 4 or 5,
the condition detection device includes: the vehicle body controller and the electronic steering system are respectively connected with the control unit through a CAN bus; the control unit acquires a steering lamp signal, a double-flash switch signal and a brake pressure value from the vehicle body controller so as to detect whether the steering lamp and the double-flash switch are turned on or not and whether the brake pressure value is greater than a set pressure or not; the control unit acquires a steering wheel angle from the electronic steering system and calculates a steering wheel angle rate according to the steering wheel angle; the control unit determines that the vehicle meets an active deviation condition when any one or more of a steering lamp which deviates from the lane in the same direction, a double-flash switch which is turned on, a brake pressure value which is greater than a set pressure and a steering wheel turning speed value which is greater than a set speed are turned on.
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