Lane departure pre-warning method and system based on dynamic lane boundary
A lane departure warning and dynamic lane technology, applied in the field of intelligent vehicle control, can solve problems such as poor human-machine experience and the inability of the LDWS system to accurately respond to driving needs, so as to reduce the false alarm rate and improve the early warning performance.
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Embodiment 1
[0041] see figure 1 A lane departure warning method based on a dynamic lane boundary disclosed in Embodiment 1 mainly includes the following steps S101 to S107:
[0042] S101. Collect a road image of a road on which the vehicle travels.
[0043] S102. Detect the road image to obtain lane information.
[0044] S103. Obtain a set driving type of the vehicle; the driving type includes any one of aggressive, general, and conservative.
[0045] S104. Calculate a corresponding dynamic lane boundary according to the lane information and the set vehicle driving type; the dynamic lane boundary corresponds to one of an aggressive lane boundary, a general lane boundary, and a conservative lane boundary.
[0046] S105. Obtain current state information of the vehicle including vehicle longitudinal velocity, yaw rate, and relative yaw angle from the vehicle CAN bus.
[0047] S106. Calculate the lane departure time according to the calculated dynamic lane boundary and the current state in...
Embodiment 2
[0061] see Figure 4 According to Embodiment 2, a lane departure warning system based on dynamic lane boundaries is correspondingly disclosed, including a lane image acquisition unit 100, a lane detection unit 200, a driving type setting unit 300, a dynamic lane boundary calculation unit 400, and a vehicle state acquisition unit 500 , lane departure calculation unit 600, early warning threshold setting unit 700, early warning control unit 800; wherein:
[0062] A lane image acquisition unit 100, configured to acquire road images of the road on which the vehicle is traveling;
[0063] A lane detection unit 200, configured to detect road images and obtain lane information;
[0064] The driving type setting unit 300 is used to set the driving type of the vehicle; the set driving type includes any one of aggressive type, general type and conservative type;
[0065] The dynamic lane boundary calculation unit 400 is used to calculate the corresponding dynamic lane boundary accordi...
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