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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.

Active Publication Date: 2018-08-24
GUANGZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to disclose a lane departure warning method based on dynamic lane boundaries, which can dynamically adjust the warning boundary according to the driver's driving habits and driving characteristics, and effectively improve the problem that the LDWS system cannot accurately respond to actual driving needs and the man-machine experience is poor. problems, and correspondingly disclose a lane departure warning system based on dynamic lane boundaries

Method used

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  • Lane departure pre-warning method and system based on dynamic lane boundary
  • Lane departure pre-warning method and system based on dynamic lane boundary
  • Lane departure pre-warning method and system based on dynamic lane boundary

Examples

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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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Abstract

The invention relates to a lane departure pre-warning method and system based on a dynamic lane boundary. The method comprises the steps that road images of a road on which a vehicle travels are collected; the road images is detected to obtain lane information; a set vehicle driving type is acquired; the corresponding dynamic lane boundary is calculated according to the lane information and the set vehicle driving type; vehicle current state information including a vehicle longitudinal speed, a yaw angle speed and a relative yaw angle is acquired from a vehicle CAN bus; a lane departure time is calculated according to the calculated dynamic lane boundary and the vehicle current state information; and the vehicle is controlled to implement lane pre-warning according to the lane departure time and a set lane pre-warning threshold. The lane departure pre-warning method and system based on the dynamic lane boundary can calculate the dynamic lane boundary according to different driving types, thereby dynamically adjusting the pre-warning threshold; and the diversification of the driving types can be effectively adapted, the false alarm rate of lane pre-warning is reduced, and the pre-warning performance is improved.

Description

technical field [0001] The invention belongs to the field of vehicle intelligent control, and in particular relates to a lane departure warning method and system based on a dynamic lane boundary. Background technique [0002] The Lane Departure Warning System (LDWS) can remind the driver that the vehicle is in danger of leaving the original lane, thereby improving the active safety of the vehicle and reducing the probability of traffic accidents caused by the vehicle leaving the lane. [0003] Lane departure warning generally uses the detected lane line as the warning boundary, and calculates the remaining time (TLC time) for the vehicle to travel from the current position to the lane line, which is used as the judgment basis for the LDWS system to trigger the warning. Therefore, different warning boundaries directly affect the time when the LDWS system triggers the warning, which directly affects the driver's experience of the LDWS system. For example, aggressive driving us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12B60W40/02B60W40/105B60W40/112B60W40/114B60W50/14
Inventor 綦科
Owner GUANGZHOU UNIVERSITY
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