Road-vehicle fusion perception based early warning method against lane departure

Abstract

The invention discloses a road-vehicle fusion perception based early warning method against lane departure, and relates to the field of automatic driving. Firstly, a roadside sensing device collects and preprocesses images of lane lines and a vehicle; then, a driving track is stored; and meanwhile, lane line detection is conducted, the positions of the lane lines in the world coordinate system areobtained through inverse perspective transformation, similarly, the position of the target vehicle is unified to the world coordinate system, and distance information between the center point of thevehicle and the lane lines on the two sides is obtained. And multiple frames of driving track of the target vehicle are fit, and the yaw angle of the vehicle is calculated. And finally, a vehicle sensor acquires the steering wheel angle and steering lamp information of the vehicle, if the deviation driving of the vehicle is not the intention of a driver, speed and acceleration information of the vehicle is acquired and transmitted to a vehicle-mounted terminal, and the vehicle-mounted terminal judges whether the vehicle has the risk of deviating from the lane line according to measurement information. According to the invention, the data processing amount of the vehicle-mounted terminal is reduced, the accuracy and robustness of a detection system are improved, and the driving safety is ensured.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a lane departure warning method based on road-vehicle fusion perception. Background technique [0002] Traffic safety has become an important factor that threatens the safety of people's lives and property. Through the investigation and statistics of the causes of traffic accidents, it is found that most of the traffic accidents are caused by improper driving behavior, and most of them are caused by vehicles driving out of the predetermined track. In order to improve Driving safety, Lane Departure Warning System (Lane Departure Warning System, LDWS) came into being. [0003] LDWS is one of the representative systems of Advanced Driver Assistant System (DAS). It uses sensors to obtain the relative position information of lane lines and vehicles, and uses the departure warning module to identify whether the vehicle is likely to leave the lane and decide whether it is Instead of pr...

AI Technical Summary

Problems solved by technology

[0004] However, assisted driving systems including LDWS mainly rely on the vehicle-mounted terminal. In the prior art, the research method of lane departure warning based on the vehicle-mounted terminal, such as patent number CN106184232A, proposes a lane departure warning control method based on the driver's perspective. There are the following aspects Insufficient points, bumps in the driving process of the vehicle, etc. cause the lane line recognition to fail and fail to provide early warning, and it is difficult to complete the recognition when the illumination is poor or the lane line is missing or blocked

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