CN205930709U - Lane departure early warning system - Google Patents
Lane departure early warning system Download PDFInfo
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- CN205930709U CN205930709U CN201620786397.6U CN201620786397U CN205930709U CN 205930709 U CN205930709 U CN 205930709U CN 201620786397 U CN201620786397 U CN 201620786397U CN 205930709 U CN205930709 U CN 205930709U
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Abstract
The utility model relates to a lane departure early warning system, include: vision collector, automobile body information sensor, FPGA logic center, DSP computer center, HUD new line display and automobile body controller, the vision collector is installed in the front windshield both sides, with the central communication connection of FPGA logic, automobile body information sensor is installed in automobile body front end bottom, with the central communication connection of FPGA logic, FPGA logic center sets up at the inside front end operation panel bottom of automobile body, FPGA logic center and the communication connection of DSP computer center with DSP computer center, HUD new line display sets up on driver's head the place ahead glass, with the DSP communication connection of computer center, the automobile body controller sets up in the inside front end operation panel bottom of automobile body, with the DSP communication connection of computer center to be connected with steering wheel and drive arrangement. The utility model relates to an overfatigue or the long -time dull condition such as attention deficit that cause of driving can be assisted by lane departure early warning method and system.
Description
Technical field
This utility model is related to a kind of automobile safety system field, specifically, is to be related to a kind of lane departure warning system
System.
Background technology
Bureau of Public Road estimates：In the U.S.'s all fatal vehicle accidents in 2002,44% is relevant with deviation
, deviation is also seen as the main cause of vehicle rollover accident simultaneously.The analysis result of AssitWare website：23% vapour
Car driver at least falls asleep once in one month on the steering wheel；66% trucker oneself dozes off in driving procedure；
28% trucker had the experience fallen asleep on the steering wheel in one month.That is：Just there is one in four drivers
Driver lives through the casualty accident that deviation causes.
The utility application of Application No. 201210442546.3 discloses a kind of Lane Departure Warning System, its
Including multiple sensing units, at least one communication channel, computing module and caution signalss generation module.Multiple sensing units, sense
Survey vehicle running state, produce multiple sensing signals in order to frequency-synchronized.Communication channel, is electrically connected at sensing unit, uses
To transmit sensing signal.Computing module, is electrically connected at communication channel, receives sensing signal, in order to obtain phase in sensing signal
Corresponding many transport condition datas, caution signalss generation module, it is electrically connected at communication channel, in order to according to control signal
Produce caution signalss, stop producing warning or forbid producing caution signalss.But this application is without reference to HUD HUD, should
Utility model application arranges for early-warning conditions and does not also carry out detailed division, makes alarm lack buffer stage.
Utility model content
For above-mentioned deficiency of the prior art, this utility model provides a kind of design careful, easy to use, can assist
Fatigue or dull for a long time drive cause absent minded situations such as Lane Departure Warning System.
Technical solution adopted in the utility model is：
A kind of Lane Departure Warning System, including：Vision collecting device, car body information sensor, fpga logic center, DSP
Calculating center, HUD HUD and vehicle body controller；
Described vision collecting device is installed on front windshield both sides, is connected with fpga logic center to center communications；
Described car body information sensor is installed on body structure bottom, is connected with fpga logic center to center communications；
Described fpga logic center is calculated with DSP and is centrally disposed in vehicle body front-end operations platform bottom, and described FPGA patrols
The center of collecting calculates center to center communications with described DSP and is connected；
Described HUD HUD is arranged on glass in front of driver head, calculates center to center communications even with described DSP
Connect；
Described vehicle body controller is arranged on vehicle body front-end operations platform bottom, calculates center to center communications with described DSP and is connected,
And be connected with steering wheel and driving means.
Preferably, described vision collecting device includes road conditions information gathering device, and described road conditions information gathering device at least includes
It is installed on the multifunctional pick-up head of front windshield both sides.
In any of the above-described scheme preferably, described car body information sensor at least includes being installed on body structure bottom
Infrared ray sensor.
In any of the above-described scheme preferably, described fpga logic center includes image preprocess apparatus, described image
Pretreatment unit receives the traffic information of road conditions information gathering device collection and the car body driving information of car body information acquisition device collection,
And identify road boundary or Lane Mark from the image obtaining, set up vehicle feasible area.
In any of the above-described scheme preferably, described image pretreatment unit includes：
Image gray-scale transformation module：For the coloured image gray processing that will obtain, and carry out gray scale stretching；
Image boundary detection module：For image is entered row bound enhancement process, do image boundary detection；
Image threshold chooses module：For obtaining image threshold with big law：
Image binaryzation processing module：Binary Sketch of Grey Scale Image is processed as black white image.
In any of the above-described scheme preferably, described DSP calculating center includes information receiving module, Hough transformation calculates
Module, method of least square computing module, track computing module and information sending module.
In any of the above-described scheme preferably, road image sets with respect to the position of lane line in the road according to car body
It is set to：No warning region, earliest warning line, warning threshold line, warning region, lane line and warning line the latest.
In any of the above-described scheme preferably, described vehicle body controller is connected with steering wheel for vehicle, and car body controls bag
Include vibration of steering wheel, correction moment carries out steering engagement, reduces at least one of speed.
In any of the above-described scheme preferably, described DSP calculates center connection alarm module, and car body deviates predetermined no alert
Report region, during touching warning line, DSP calculates information warning the vibrations of travel direction disk that center sends, and points out driver to correct
The deviation of vehicle, when driver corrects vehicle not according to information warning and deviates, vehicle body controller correction moment is turned to
Intervene, and reduce speed.
The beneficial effect of this utility model hinge structure：
This utility model lane departure warning method and system, provide intelligent lane departure warning, do not beat in driver
Steering indicating light etc. is unconscious when deviateing former track, can send alarm in run-off-road within 0.5 second, provide for driver more anti-
Between seasonable, greatly reduce the collision accident causing because of deviation, additionally, can also correct using run-off-road warning system driving
The person of sailing does not beat the custom of steering indicating light, and its major function of this system is auxiliary fatigue or the dull attention driving initiation for a long time
Situations such as power is not concentrated.
This utility model lane departure warning method and system use HUD HUD, by garage's parameter, Autonomous test etc.
Information, in the form of image, character, projects the optical electrical display device on passenger cabin dead ahead compound glass by opticses
On, when driver passes through compound glass observation front scenery, the letter such as the character being superimposed upon on outdoor scene, image can be simultaneously viewed
Breath.And project focal length to be located in front of imaging suite glass, make driver hardly with changing eyes focal length, you can convenient
Watch garage's parameter at any time, visibility also will not be affected by sun exposure.
This utility model lane departure warning method and system in automotive run-off-road, when touching predetermined early-warning conditions,
Can monitor whether driver opens steering indicating light first, such as open, then do not start alarm, be such as not switched on steering indicating light, then start
Alarm go forward side by side driving body control, include vibrations steering wheel, if driver do not correct yet vehicle deviation, vehicle body controller correction
Moment carries out steering engagement, and reduces speed, reduces vehicle in several ways and travels danger.
Brief description
Fig. 1 is the flow chart of this utility model lane departure warning method；
Fig. 2 is the structural representation of this utility model Lane Departure Warning System；
Fig. 3 is the road image warning line setting schematic diagram of this utility model Lane Departure Warning System.
Critical piece symbol description in accompanying drawing：
In figure：
1st, no warn region；2nd, driving vehicle；
3rd, earliest warning line；4th, warn threshold line；
5th, lane line；6th, warning line the latest；
7th, warn region.
Specific embodiment
Referring to the drawings and embodiment is described in detail to this utility model：
Embodiment 1
Accompanying drawing 1 understands, a kind of lane departure warning method comprises the steps：
S101：By the multifunctional pick-up head being installed on after front windshield, obtain the Lane Mark information in road image,
Car body information sensor gathers car body information；Vision collecting device includes road conditions information gathering device, and road conditions information gathering device at least wraps
Include the multifunctional pick-up head being installed on front windshield both sides；Car body information sensor at least includes being installed on body structure bottom
Infrared ray sensor；
S102：Lane Mark information and car body information are supplied to fpga logic center,
S103：The coloured image gray processing that fpga logic center will obtain, and carry out gray scale stretching；
S104：Image is entered row bound enhancement process, does image boundary detection；
S105：Obtain image threshold with big law：
S106：Binary Sketch of Grey Scale Image is processed as black white image.
S107：Fpga logic center combines the feature of the road image obtaining, and identifies road boundary from the image obtaining
Or Lane Mark;
S108：Set up vehicle feasible area；
S109：Determine position in track for the vehicle and directional information；
S110：Position in track for the vehicle and directional information are supplied to DSP and calculate center by fpga logic center；
S111：On glass in front of driver head arrange HUD HUD, display at least show garage's parameter,
Position in track for the vehicle and directional information etc.；
S112：DSP calculates and monitors whether car body touches earliest warning line in the road centrally through calculating；
S113：If car body touches this boundary line, whether monitoring driver opens steering indicating light；
S114：As opened steering indicating light, then do not trigger alarm；
S115：As being not switched on steering indicating light, alarm modules trigger early warning；
S116：Triggering alarm shakes steering wheel simultaneously reminds driver, points out driver to correct the deviation of vehicle；
S117：Whether monitoring driver corrects deviation；
S118：If driver has corrected deviation, all clear；
S119：Deviate as driver corrects vehicle not according to information warning, carry out car body control, vehicle body controller reduces
Speed；Car body control includes vibration of steering wheel, correction moment carries out steering engagement, reduces at least one of speed；
S120：Vehicle body controller correction moment carries out steering engagement.
As shown in Figure 3：Road image arranges no alert in the road according to driving vehicle 2 with respect to the position of lane line 5
Show region 1, earliest warning line 3, warning threshold line 4, warning region 7, lane line 5 and warning line 6 the latest.
Vehicle deviates early warning and specifically includes following action：Whether car body touches warning threshold line in the road, and such as car body touches
Touch this boundary line, whether monitoring driver opens steering indicating light, such as opens steering indicating light, does not then trigger alarm, be such as not switched on steering indicating light,
Alarm modules send warning indicators；
Whether car body enters warning region in the road, and in this region, whether monitoring driver opens steering to such as car body
Lamp, such as opens steering indicating light, does not then trigger alarm, be such as not switched on steering indicating light, alarm sends alarm.
Marked based on track in the road image that the Lane Departure Warning System of machine vision depends on machine vision to be obtained
Know line information, according to certain priori, position in track for the vehicle and direction are determined by suitable conversion
Information, then determines whether be necessary to trigger alarm under current state according to the Early-warning Model supposing.
Road boundary based on machine vision and Lane Mark recognition methodss include identification based on characteristics of image and
Identification based on model.
Specifically included based on characteristics of image identification：Feature lane line in traffic information is attached, process of fitting treatment；Right
The rim detection of traffic information image simultaneously carries out fitting a straight line and obtains boundary sections, and described boundary sections length and direction are carried out
Cluster and connect.
The feature of road image includes color characteristic and shade of gray feature.
Color characteristic includes gray feature or color property, based on the recognition methodss of gray feature is：From vehicle front
In sequence gray level image, completed to road boundary and lane identification line using the gray feature of road boundary and Lane Mark
Identification；Based on the recognition methodss of color property it is：Using from the sequence color obtaining, according to road and lane identification line
Particular color feature completing the identification to road boundary and Lane Mark.
Following steps are specifically included based on the identification of model：
Set up the labelling of rule relatively for structured road；
Corresponding curve model is set up according to mark shape；
Using different technology of identification, road boundary and lane identification line are identified.
Different technology of identification includes at least one of Hough transform, template matching technique or nerual network technique.
Automotive safety expert point out：The motor traffic accidentss that there are about 50% are because that automobile deviates normal traveling lane and draws
Rise, study carefully its main cause and be mainly driver's irritability with mental disarrangement, absent minded or driving fatigue.This utility model provides intelligence
The lane departure warning method of energy and system, unconscious（Driver does not play steering indicating light）When deviateing former track, car can deviateed
Road sent alarm within 0.5 second, provided more response time for driver, greatly reduced the collision causing because of deviation
Accident, additionally, can also correct, using LDWS (run-off-road warning system), the custom that driver does not play steering indicating light, its master of this system
Want function be auxiliary fatigue or dull for a long time drive cause absent minded situations such as.
Embodiment 2
As shown in Figure 2, it is a kind of Lane Departure Warning System, including：Vision collecting device, car body information sensor,
Fpga logic center, DSP calculate center, HUD HUD and vehicle body controller；
Vision collecting device is installed on front windshield both sides, is connected with fpga logic center to center communications；Vision collecting device includes
Road conditions information gathering device, road conditions information gathering device at least includes being installed on the multifunctional pick-up head of front windshield both sides；
Car body information sensor is installed on body structure bottom, is connected with fpga logic center to center communications；Car body information sensing
Device at least includes being installed on the infrared ray sensor of body structure bottom
Fpga logic center and DSP calculate and are centrally disposed in vehicle body front-end operations platform bottom, fpga logic center with
Described DSP calculates center to center communications and connects；
HUD HUD is arranged on glass in front of driver head, calculates center to center communications with DSP and is connected；
Vehicle body controller is arranged on vehicle body front-end operations platform bottom, calculates center to center communications with DSP and is connected, and and direction
Disk and driving means are connected.
Fpga logic center includes image preprocess apparatus, and image preprocess apparatus receive the collection of road conditions information gathering device
Traffic information and the car body driving information of car body information acquisition device collection, and identification road boundary or track from the image obtaining
Tag line, sets up vehicle feasible area.
Image preprocess apparatus include：Image gray-scale transformation module：For the coloured image gray processing that will obtain, and carry out
Gray scale stretching；Image boundary detection module：For image is entered row bound enhancement process, do image boundary detection；Image threshold
Choose module：For obtaining image threshold with big law：Image binaryzation processing module：Binary Sketch of Grey Scale Image is processed as black
White image.
DSP calculates center and includes information receiving module, Hough transformation computing module, method of least square computing module, track
Computing module and information sending module.
Road image is set to respect to the position of lane line in the road according to car body：No warning region, earliest warning
Line, warning threshold line, warning region, lane line and warning line the latest.
Vehicle body controller is connected with steering wheel for vehicle, and car body control includes vibration of steering wheel, correction moment is turned to
Intervene, reduce at least one of speed.
DSP calculates center and connects alarm module, and car body deviates predetermined no alarm region, during touching warning line, during DSP calculates
Information warning that the heart sends the vibrations of travel direction disk, point out driver to correct the deviation of vehicle, when driver is not according to police
When showing that information corrects vehicle deviation, vehicle body controller correction moment carries out steering engagement, and reduces speed
Vision collecting device：It is configured to obtain the Lane Mark information in road image, and provides information to FPGA
Logic centre；Vision collecting device includes road conditions information gathering device, and road conditions information gathering device at least includes being installed on front windshield
The multifunctional pick-up head of both sides；Car body information sensor at least includes being installed on the infrared ray sensor of body structure bottom；
Car body information sensor：It is configured and adapted to gather car body information, and car body information is supplied in fpga logic
The heart；
Fpga logic center：It is configured and adapted to for the information receiving to pass through conversion determination position in track for the vehicle
Put and carry out Image semantic classification with directional information, and described pretreated image information is transferred to DSP and calculate center；
DSP calculates center：It is configured to according to the Early-warning Model setting and the position in track for the vehicle that receives and side
Determine whether trigger alarm under current state to information；
Vehicle body controller：It is configured to carry out car body control according to information warning；
HUD HUD：It is arranged on glass in front of driver head, it is configured at least show garage's parameter, car
Position in track and directional information.
Image semantic classification specifically includes：
Fpga logic center receives the traffic information of road conditions information gathering device collection and working as of car body information acquisition device collection
Front car body driving information；
Fpga logic center combine obtain road image feature, from obtain image in carry out road image in advance from
Reason, identification road boundary or Lane Mark；
The foundation of feasible area：Feasible area is set up according to road boundary or Lane Mark.
Road image is arranged with respect to the position of lane line 5 in the road according to driving vehicle 2 as shown in Figure 2：No alert
Show region 1, earliest warning line 3, warning threshold line 4, warning region 7, lane line 5 and warning line 6 the latest.
Vehicle deviates early warning and specifically includes following action：Whether car body touches warning threshold line in the road, and such as car body touches
Touch this boundary line, whether monitoring driver opens steering indicating light, such as opens steering indicating light, does not then trigger alarm, be such as not switched on steering indicating light,
Alarm modules send warning indicators；
Whether car body enters warning region in the road, and in this region, whether monitoring driver opens steering to such as car body
Lamp, such as opens steering indicating light, does not then trigger alarm, be such as not switched on steering indicating light, alarm sends alarm.
Car body control includes vibration of steering wheel, correction moment carries out steering engagement, reduces at least one of speed.
Alarm modules receive DSP and calculate the information warning travel direction disk vibrations that center sends, and point out driver to correct car
Deviation, when driver not according to information warning correct vehicle deviate when, vehicle body controller correction moment carries out steering stem
In advance, and reduce speed.
The above, be only preferred embodiment of the present utility model, not structure of the present utility model is made any
Pro forma restriction.Every any simple modification above example made according to technical spirit of the present utility model, equivalent
Change and modification, belong in the range of the technical solution of the utility model.
Claims (9)
1. a kind of Lane Departure Warning System, including：Vision collecting device, car body information sensor, fpga logic center, DSP meter
Calculation center, HUD HUD and vehicle body controller；
Described vision collecting device is installed on front windshield both sides, is connected with fpga logic center to center communications；
Described car body information sensor is installed on body structure bottom, is connected with fpga logic center to center communications；
Described fpga logic center is calculated with DSP and is centrally disposed in vehicle body front-end operations platform bottom, in described fpga logic
The heart calculates center to center communications with described DSP and is connected；
Described HUD HUD is arranged on glass in front of driver head, calculates center to center communications with described DSP and is connected；
Described vehicle body controller is arranged on vehicle body front-end operations platform bottom, calculates center to center communications with described DSP and is connected, and with
Steering wheel and driving means are connected.
2. Lane Departure Warning System according to claim 1 it is characterised in that：Described vision collecting device includes road conditions letter
Breath harvester, described road conditions information gathering device at least includes being installed on the multifunctional pick-up head of front windshield both sides.
3. Lane Departure Warning System according to claim 1 it is characterised in that：Described car body information sensor at least wraps
Include the infrared ray sensor being installed on body structure bottom.
4. Lane Departure Warning System according to claim 1 it is characterised in that：Described fpga logic center includes image
Pretreatment unit, described image pretreatment unit receives traffic information and the car body information acquisition device of road conditions information gathering device collection
The car body driving information of collection, and identification road boundary or Lane Mark from the image obtaining, set up vehicle feasibility area
Domain.
5. Lane Departure Warning System according to claim 4 it is characterised in that：Described image pretreatment unit includes：
Image gray-scale transformation module：For the coloured image gray processing that will obtain, and carry out gray scale stretching；
Image boundary detection module：For image is entered row bound enhancement process, do image boundary detection；
Image threshold chooses module：For obtaining image threshold with big law：
Image binaryzation processing module：Binary Sketch of Grey Scale Image is processed as black white image.
6. Lane Departure Warning System according to claim 5 it is characterised in that：Described DSP calculates center and includes information
Receiver module, Hough transformation computing module, method of least square computing module, track computing module and information sending module.
7. Lane Departure Warning System according to claim 5 it is characterised in that：Road image is according to car body in the road
It is set to respect to the position of lane line：No warning region, earliest warning line, warning threshold line, warning region, lane line and
Late warning line.
8. Lane Departure Warning System according to claim 1 is it is characterised in that described vehicle body controller and direction of traffic
Disk is connected, and car body control includes vibration of steering wheel, correction moment carries out steering engagement, reduces at least one of speed.
9. Lane Departure Warning System according to claim 7 connects warning it is characterised in that described DSP calculates center
Module, car body deviates predetermined no alarm region, and during touching warning line, DSP calculates information warning the travel direction that center sends
Disk shakes, and points out driver to correct the deviation of vehicle, when driver corrects vehicle not according to information warning and deviates, car body control
Device correction moment processed carries out steering engagement, and reduces speed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620786397.6U CN205930709U (en) | 2016-07-22 | 2016-07-22 | Lane departure early warning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620786397.6U CN205930709U (en) | 2016-07-22 | 2016-07-22 | Lane departure early warning system |
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ID=57926016
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162977A (en) * | 2017-11-25 | 2018-06-15 | 深圳市元征科技股份有限公司 | Driving assistance system and control method |
| CN108583437A (en) * | 2018-05-07 | 2018-09-28 | 温州中佣科技有限公司 | A kind of vehicle driving system |
| CN109572816A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | A kind of steering order processing method and vehicle |
-
2016
- 2016-07-22 CN CN201620786397.6U patent/CN205930709U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162977A (en) * | 2017-11-25 | 2018-06-15 | 深圳市元征科技股份有限公司 | Driving assistance system and control method |
| CN108583437A (en) * | 2018-05-07 | 2018-09-28 | 温州中佣科技有限公司 | A kind of vehicle driving system |
| CN109572816A (en) * | 2018-12-29 | 2019-04-05 | 百度在线网络技术（北京）有限公司 | A kind of steering order processing method and vehicle |
| CN109572816B (en) * | 2018-12-29 | 2020-08-14 | 百度在线网络技术（北京）有限公司 | Steering instruction processing method and vehicle |
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