Lane departure early warning method and lane departure early warning system

A technology of lane departure warning and lane lines, applied in the field of lane departure warning methods and systems, capable of solving problems such as vehicle departure warning

Active Publication Date: 2015-08-26
BAIC MOTOR CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention provides a departure warning method and system to solve the problems of how to effectiv...

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  • Lane departure early warning method and lane departure early warning system
  • Lane departure early warning method and lane departure early warning system
  • Lane departure early warning method and lane departure early warning system

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specific Embodiment approach

[0078] Further, on the basis of the above-mentioned embodiments, the specific implementation of step 102 includes:

[0079] Determine the camera coordinate system B(X c ,Y c ,Z c ), where X c =X,Y c = Y cos θ - H sin θ, Z c =-(H cosθ+Y sinθ), H is the height of the reversing camera from the ground;

[0080] According to the camera coordinate system B(X c ,Y c ,Z c ), and the focal length f of the reversing camera, determine the camera imaging surface O(x,y), where x=-f·(X c / Z c ), y=-f·(Y c / Z c );

[0081] According to the camera imaging surface O(x,y), the width w and height h of the camera imaging surface, and the width W of the lane line in the image coordinate system I and height H I , determine the mapping relationship between the image coordinate system O(u,v) and the world coordinate system A(X,Y,Z) as:

[0082] u=x·(w / W I )=f·(w / W I )·(X / (Y sinθ+H cosθ)),

[0083] v=y·(h / H I )=f·(h / H I )·((Y cosθ-H sinθ) / (Y sinθ+H cosθ)).

[0084] In this embodim...

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Abstract

The invention provides a lane departure early warning method and a lane departure early warning system, wherein the method comprises the following steps that: a lane line in a lane line image is obtained through a reversing camera arranged at the tail part of an automobile; the mapping relationship between an image coordinate system and a world coordinate system is determined; a second coordinate equation of the lane line in the world coordinate system is determined according to a first coordinate equation of the obtained lane line in the image coordinate system; after the distance from a rear axle center of the automobile to the lane line is determined according to coordinate equation parameters in the second coordinate equation, the distance from a front axle center of the automobile to the lane line is determined; and if the distance from the front axle center of the automobile to the lane line is smaller than a preset distance, and the condition that a steering lamp turning-on signal is not received is determined, an instrument warning device is turned on, so that the instrument warning device gives out a lane departure early warning signal. The goal of providing the lane departure early warning method and the lane departure early warning system is achieved; whether the automobile generates lane departure or not can be effectively and accurately judged; and the automobile lane departure early warning can be accurately performed.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a lane departure warning method and system. Background technique [0002] Due to the development of automobile technology and the development of society, the safety requirements for automobile driving are getting higher and higher. As a result, various advanced driving assistance methods have emerged. For example, radar sensors are applied to cars. Radar sensors can measure the speed of the car in front and the distance between the two cars, thereby preventing rear-end collisions or collisions between cars. [0003] At the same time, due to the fact that the driver may deviate from the lane due to negligence or fatigue during the driving process, it will cause a traffic accident. Therefore, the requirements for how to effectively and accurately judge whether the vehicle sends a lane departure, and how to accurately perform vehicle departure warning are getting stronger and s...

Claims

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Application Information

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IPC IPC(8): B60R16/02B60Q9/00
CPCB60Q9/00B60R16/02B60R2300/804
Inventor 韩超石刚吴利军张永刚
Owner BAIC MOTOR CORP LTD
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