A lane departure warning method

Abstract

The invention discloses a lane departure warning method, comprising the following steps: (1) information perception: providing the state information and the environment information of the current vehicle motion by a vehicular sensor; (2) track prediction: according to a driving behavior model of a human driver, predicting the possible traveling track range of a vehicle within a certain period of time in the future by combining with vehicle kinematics and a kinetic model; (3) lane departure warning decision: according to the possible traveling track of the vehicle and a left and right road boundary point range detected on a front road marker line, analyzing the vehicle motion safety by taking the relative relationship between calculation time from the possible traveling track of the vehicle to the detection point range on the lane marker line and a preset threshold time Tthre as an index of lane departure warning; and (4) man-machine interface: if the system judges that the vehicle is in the danger of departing from a lane, reminding the driver in sound or in other manners of taking proper actions. The lane departure warning method has the advantages of simple principle, high detection precision, simple integral structure after implementation, low cost, and the like, is simple to operate and can work stably and reliably.

Description

technical field [0001] The invention mainly relates to the field of vehicle safety systems, in particular to a method for early warning of lane departure, and is mainly applicable to active safety systems for vehicles. Background technique [0002] With the development of society, automobiles, as the main means of transportation for human beings, are gradually becoming an indispensable part of people's lives, but the traffic accidents that follow have attracted more and more attention. While people are pursuing the convenience brought by vehicles, they are also paying more and more attention to the safety of vehicles. This strong demand has promoted the research of a series of automotive active safety systems. [0003] For the active safety system of automobiles, the lane departure warning system and the forward rear-end collision warning system are more researched at present, which is determined by the main needs of the current automobile safety field. Many survey reports ...

AI Technical Summary

Problems solved by technology

But so far, the lane line model can't match the lane line under various conditions very well, and the difference between the two is even greater in the case of curves.

At the same time, because the lane line detection points are affected by light and ground conditions, there are some noise signals in the detection results, which will affect the accuracy of the fitted lane line equation and have a great impact on the evaluation between vehicles and roads. Therefore, this method also There are certain limitations

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