Early warning method for lane departure

Abstract

The invention provides an early warning method for lane departure. The early warning method for lane departure comprises the video capture device installation step, the parameter calibration step, the image preprocessing step, the edge detection step, the lane line recognition step and the lane departure early warning time determining step. The lane departure early warning time determining step comprises the vehicle off-course distance calculation step, the lane pressing time estimation step and the lane departure judgment step. In the vehicle off-course distance calculation step, the vehicle off-course distance is calculated according to the external parameters, the internal parameters and the coordinate transformation change calibrated by a video capture device. In the lane departure judgment step, the lane departure time threshold value is set, and when the lane pressing estimation time is smaller than the lane departure time threshold value, lane departure early warning is carried out. According to the early warning method, the anti-noise capacity and the anti-interference capacity of lane departure waning can be improved, the reliability of early warning for lane departure can be improved, the false alarm rate and the missed alarm rate can be lowered, the accuracy of lane pressing estimation time is improved, and therefore effective early warning for lane departure can be provided.

Description

technical field [0001] The invention relates to the technical field of driving safety assistance, in particular to a lane departure warning method and a preloading lane time estimation method. Background technique [0002] Lane Departure Warning (LDW for short) system is one of Advanced Driver Assistance Systems (ADAS for short), and it is a car driving safety assistance system. When the sensing element detects that the vehicle has deviated from the lane, if the driver fails to turn on the turn signal to change the lane due to fatigue or negligence, the system will send out a warning signal to remind the driver to return to the lane. The Lane Departure Warning (LDW) system currently uses the camera as the main sensor, detects and tracks lane lines based on machine vision technology, and judges whether the vehicle is in danger of deviating from the lane based on the driver's characteristics, and provides sound, light and vibration warnings to the driver in case of danger . ...

AI Technical Summary

Problems solved by technology

[0004] Moreover, the current calculation method of Time to Lane Crossing (TLC for short) is generally to first calculate the vehicle yaw distance and yaw angle, calculate the vehicle lateral yaw speed through the yaw angle and vehicle speed, and then calculate the The distance and lateral yaw speed estimate the vehicle preloading time, but in engineering applications, the vehicle cannot keep absolutely stable during driving, and the on-board camera will inevitably shake, which will directly affect the calculation of the yaw angle. The vehicle is running at high speed, and a yaw angle error of two or three degrees may cause the calculation error of TLC to exceed the allowable range. Therefore, this method is not reliable in practical applications

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