CN109910882A - A kind of lane shift early warning auxiliary system and its householder method based on inertial navigation - Google Patents
A kind of lane shift early warning auxiliary system and its householder method based on inertial navigation Download PDFInfo
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- CN109910882A CN109910882A CN201910192111.XA CN201910192111A CN109910882A CN 109910882 A CN109910882 A CN 109910882A CN 201910192111 A CN201910192111 A CN 201910192111A CN 109910882 A CN109910882 A CN 109910882A
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Abstract
The lane shift early warning auxiliary system based on inertial navigation that the invention discloses a kind of, including Strapdown Inertial Navigation System, the output end of Strapdown Inertial Navigation System connects controller by Kalman filter, and Strapdown Inertial Navigation System is mounted on vehicle body for getting longitudinal acceleration information and sideway angle information in vehicle travel process, wherein the input terminal of Strapdown Inertial Navigation System is also by control connection for obtaining real-time vehicle position information；The input terminal of controller is also connected with Global Navigation Satellite System, and then the rough road location inputted to controller；The input terminal of controller also connects the video output interface of automobile data recorder by Kalman filter.The present invention improves the accuracy that lane shift is judged conventionally by video identification lane line under road conditions poor environment, and strong applicability does not need to crack former vehicle CAN bus signal, does not also need individually to modify software algorithm for some vehicle signal.
Description
Technical field
The present invention relates to a kind of larger range, specifically a kind of lane shift early warning auxiliary system based on inertial navigation and
Its householder method.
Background technique
Lane shift early warning system main function is whether can quickly to judge the movement when the former lane that driving deviates
The automatism for belonging to driver makes warning note, allows driver to react in advance, and driver is reminded to correct mistake as early as possible
Because of deviation traffic accident occurs for driving behavior accidentally to reduce driving.
Lane shift early warning common at present realizes that there are two types of modes: one is by extracting the lane line in driving video
Position carries out calculation process in conjunction with vehicle body the right and left radar signal, makes Crane Rail offset early warning；The second is first
Vehicle body CAN signal is cracked on the basis of kind of mode, gets and turns to modulating signal or steering wheel delivers information, in conjunction with passing through video
The lane line of extraction carries out operation and does anticipation alarm.In the case where lane line is fuzzy, all there is certain difficulty in both modes
Degree, for directly parsing lane line signal from input video, the incoming video signal for needing to be apparent and driving periphery barrier
Hinder object to assist, while needing more complicated Processing Algorithm；It can raising lane shift judgement appropriate by CAN signal auxiliary
Accuracy, but it is different to be different vehicle CAN signal, and is inconvenient to crack CAN signal, causes not strong using versatility.
Summary of the invention
The purpose of the present invention is to provide a kind of lane shift early warning auxiliary system and its auxiliary square based on inertial navigation
Method, to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of lane shift early warning auxiliary system based on inertial navigation, including Strapdown Inertial Navigation System, Strapdown Inertial Navigation System it is defeated
Outlet connects controller by Kalman filter, and Strapdown Inertial Navigation System is mounted on vehicle body for getting vehicle driving
Longitudinal acceleration information and sideway angle information in the process, wherein the input terminal of Strapdown Inertial Navigation System is used for also by control connection
Obtain real-time vehicle position information；The input terminal of controller is also connected with Global Navigation Satellite System, and then inputs to controller
Rough road location；The input terminal of controller also connects the video output interface of automobile data recorder by Kalman filter.
As a further solution of the present invention: the output end of the controller connects prior-warning device, and prior-warning device can be
Combined aural and visual alarm etc., to play the purpose of significant prompt driver.
As a further solution of the present invention: the Global Navigation Satellite System be GPS, BDS, GLONASS or
GALILEO。
A kind of householder method of the lane shift early warning auxiliary system based on inertial navigation, the specific steps are as follows:
(1) it obtains information: longitudinal acceleration information and sideway angle in vehicle travel process being obtained by Strapdown Inertial Navigation System and believed
Breath；Global Navigation Satellite System obtains the location information of automobile, while Global Navigation Satellite System has lane information；And it drives a vehicle
Recorder is used for the lane line that obtains driving video and can extract；
(2) information comparing calculation: based on the lane information that Global Navigation Satellite System obtains, while with Strapdown Inertial Navigation System
The information of acquisition carries out the calculating of opposite lane offset；
Wherein Global Navigation Satellite System has the stocking mechanism of storage lane information, and when received global navigation satellite system signal is steady
Periodically its real-time update vehicle position information and combination lane offset calculating progress real-time early warning within the unit time；When complete
When ball navigational satellite system blackout, is calculated and carried out in real time according to the location information combination lane offset that last time obtains
Early warning；
(3) early warning: setting the threshold value of warning of offset, issues alarm signal when offset reaches threshold value of warning.
As a further solution of the present invention: root being cooperated according to the lane line that automobile data recorder obtains in the step (2)
It also can be used in auxiliary judgment lane shift according to the lane offset that Strapdown Inertial Navigation System calculates.
Compared with prior art, the beneficial effects of the present invention are:
Under road conditions poor environment, the accuracy that lane shift is judged conventionally by video identification lane line, applicability are improved
By force, it does not need to crack former vehicle CAN bus signal, does not need individually to modify software algorithm for some vehicle signal yet.
Detailed description of the invention
Fig. 1 is the schematic diagram of the lane shift early warning auxiliary system based on inertial navigation.
Fig. 2 is that driving lane shift calculates schematic diagram in the unit time.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1-2, in the embodiment of the present invention, a kind of lane shift early warning auxiliary system based on inertial navigation, packet
Strapdown Inertial Navigation System is included, the output end of Strapdown Inertial Navigation System connects controller, and Strapdown Inertial Navigation System by Kalman filter
Vehicle body is mounted on for getting longitudinal acceleration information and sideway angle information in vehicle travel process, wherein strapdown is used
The input terminal of guiding systems is also by control connection for obtaining real-time vehicle position information；The input terminal of controller is also connected with entirely
Ball navigational satellite system (can be GPS or Beidou navigation etc.), and then the rough road location inputted to controller；Controller
Input terminal also by Kalman filter connect automobile data recorder video output interface pass through to obtain driving image
The rough lane line that driving video extraction arrives, goes out estimated wheelpath in conjunction with inertial navigation computing when driving,
Judge whether estimated road location deviates from normal wheelpath video recording in conjunction with GNSS location information, plays anticipation alarm in advance；
The output end of the controller connects prior-warning device, and prior-warning device can be combined aural and visual alarm etc., significantly mentions to play
Show the purpose of driver.
A kind of householder method of the lane shift early warning auxiliary system based on inertial navigation, the specific steps are as follows:
(1) it obtains information: longitudinal acceleration information and sideway angle in vehicle travel process being obtained by Strapdown Inertial Navigation System and believed
Breath；Global Navigation Satellite System obtains the location information of automobile, while Global Navigation Satellite System has lane information；And it drives a vehicle
Recorder is used for the lane line that obtains driving video and can extract；
(2) information comparing calculation: based on the lane information that Global Navigation Satellite System obtains, while with Strapdown Inertial Navigation System
The information of acquisition carries out the calculating of opposite lane offset；
Wherein Global Navigation Satellite System has the stocking mechanism of storage lane information, and when received global navigation satellite system signal is steady
Periodically its real-time update vehicle position information and combination lane offset calculating progress real-time early warning within the unit time；When complete
When ball navigational satellite system blackout, is calculated and carried out in real time according to the location information combination lane offset that last time obtains
Early warning；
And the lane offset that the lane line cooperation obtained according to automobile data recorder is calculated according to Strapdown Inertial Navigation System can also be used
In auxiliary judgment lane shift；
(3) early warning: setting the threshold value of warning of offset, issues alarm signal when offset reaches threshold value of warning.
Strapdown Inertial Navigation System internal algorithm is combined with the signal of Global Navigation Satellite System realizes high-precision positioning, resists
Intensity of illumination interference is strong, all weather operations, data updating rate are high, and fast accurate is updated and judges to driving guiding,
Make accurate driving lane offset early warning judgement.Under the good environment of road conditions, the lane line by obtaining vision signal is believed
Number carry out lane shift calculation process；In road conditions unfavorable condition, inertial sensor can be global for the last time before losing signal
The variation of position is determined after the reading of navigational satellite system.
If Global Navigation Satellite System signal can not be received by being driven in tunnel, inertial sensor will be with meter number
Calculate the direction of vehicle.Speculate that navigation operations carry out the calculating of change in location again, so that it may infer according to the signal of inertial sensor
The position that driving is currently located.Compensate under bad road conditions routine LDW calculate lane detection signal input sources it is weaker or
Error in judgement caused by insufficient situation is larger or even fails, and complementary effect is played to lane shift.
In normal driving conditions, driving can be travelled along present road；When in high speed traveling and road middles lanes mould
It pastes under environment, driving video camera is difficult normal assay and goes out lane line, while driver does not artificially feel driving and occurring partially
It moves, combining global navigational satellite system and Strapdown Inertial Navigation System signal, after Kalman filtering and lane keep calculating, estimation
Lane departure will occur after next arrival time out, trigger warning function.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (5)
1. a kind of lane shift early warning auxiliary system based on inertial navigation, including Strapdown Inertial Navigation System, which is characterized in that strapdown
The output end of inertial navigation system connects controller by Kalman filter, and Strapdown Inertial Navigation System is mounted on vehicle body for obtaining
Get longitudinal acceleration information and sideway angle information in vehicle travel process, wherein the input terminal of Strapdown Inertial Navigation System also by
Control connection is for obtaining real-time vehicle position information；The input terminal of controller is also connected with Global Navigation Satellite System, in turn
The rough road location inputted to controller；The input terminal of controller also connects the view of automobile data recorder by Kalman filter
Frequency output interface.
2. the lane shift early warning auxiliary system according to claim 1 based on inertial navigation, which is characterized in that the control
The output end of device processed connects prior-warning device, and prior-warning device is combined aural and visual alarm, to play the purpose of significant prompt driver.
3. the lane shift early warning auxiliary system according to claim 1 based on inertial navigation, which is characterized in that described complete
Ball navigational satellite system is GPS, BDS, GLONASS or GALILEO.
4. a kind of householder method of the lane shift early warning auxiliary system based on inertial navigation, which is characterized in that specific steps are such as
Under: (1) it obtains information: longitudinal acceleration information and sideway angle in vehicle travel process being obtained by Strapdown Inertial Navigation System and believed
Breath；Global Navigation Satellite System obtains the location information of automobile, while Global Navigation Satellite System has lane information；And it drives a vehicle
Recorder is used for the lane line that obtains driving video and can extract；
(2) information comparing calculation: based on the lane information that Global Navigation Satellite System obtains, while with Strapdown Inertial Navigation System
The information of acquisition carries out the calculating of opposite lane offset；
(3) early warning: setting the threshold value of warning of offset, issues alarm signal when offset reaches threshold value of warning.
5. the householder method of the lane shift early warning auxiliary system according to claim 4 based on inertial navigation, feature
It is, the lane that the lane line cooperation obtained in the step (2) according to automobile data recorder is calculated according to Strapdown Inertial Navigation System is inclined
Shifting amount also can be used in auxiliary judgment lane shift.
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| CN113777635A (en) * | 2021-08-06 | 2021-12-10 | 香港理工大学深圳研究院 | Global navigation satellite data calibration method, device, terminal and storage medium |
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