Lane departure remote warning method and system

Abstract

The present application provides a lane departure remote warning method and system, in which the left camera and the right camera of the system are respectively fixed to the bottom fixing seat of the vehicle through the left telescopic rod and the right telescopic rod. Since the bottom fixing seat of the vehicle is located in front of the left and right front wheel connecting shafts of the vehicle, the left and right cameras are also arranged in front of the left and right front wheels, and the right camera is arranged toward the ground, for real-time shooting of the road conditions of the left and right front wheels. When a white lane line appears in the picture taken by the left camera or the right camera, the processor promptly sends an alarm instruction to the alarm device to remind the driver not to deviate from the lane.

Description

Technical Field

[0001] The present application relates to the field of driving assistance technology, and in particular to a lane departure remote warning method and system. Background Art

[0002] At present, with the increase in the number of cars, more and more people choose cars as a means of transportation, which leads to an increase in the number of cars on the road, and thus an increase in road traffic accidents. Especially, traffic accidents caused by lane departure will cause huge losses to people's lives and property safety. When the vehicle is driving, the driver is fatigued or inattentive, which may cause the vehicle to deviate from the normal lane inadvertently; when the vehicle is driving at high speed, the vehicle may also deviate unconsciously. When the vehicle deviates from the normal lane, it is easy to cause a collision with the vehicle next to it, which poses a serious safety hazard. Summary of the invention

[0003] In view of the defects in the prior art, the present application provides a lane departure remote warning method and system, which can remotely monitor whether the vehicle deviates from the lane and give a warning in time.

[0004] In a first aspect, the present application provides a lane departure remote warning system, which is installed on a vehicle body and includes: a processor, a vehicle bottom fixing seat, a left telescopic rod, a right telescopic rod, a left camera, a right camera, a steering wheel angle sensor, and an alarm device;

[0005] The bottom fixing seat is arranged on the bottom of the automobile, and the bottom fixing seat is located in front of the left front wheel and the right front wheel connecting shaft of the automobile; the left telescopic rod and the right telescopic rod are respectively fixed on both sides of the bottom fixing seat, and the left telescopic rod and the right telescopic rod are perpendicular to the direction of the automobile body;

[0006] The left camera is arranged at the end of the left telescopic rod, and the right camera is arranged at the end of the right telescopic rod; the lenses of the left camera and the right camera are both arranged facing the ground;

[0007] The processor is electrically connected to the steering wheel angle sensor, the left telescopic rod, the right telescopic rod, the left camera, the right camera, and the alarm device respectively.

[0008] Preferably, a line connecting the center of the vehicle bottom fixing seat and the center of the coupling is a symmetry line of the left front wheel and the right front wheel.

[0009] Preferably, the distance from the center of the vehicle bottom fixing seat to the center of the coupling is greater than the radius of the front wheel of the vehicle.

[0010] Preferably, the system further comprises a touch screen, and the touch screen is electrically connected to the processor.

[0011] Preferably, the processor includes a receiving module, an image recognition module, a first alarm module and a second alarm module;

[0012] The receiving module is used to receive the first image taken by the left camera and the second image taken by the right camera;

[0013] The image recognition module is used to perform image recognition on the first image and the second image;

[0014] The first alarm module is used to output a first alarm instruction to the alarm device when there is a white lane line in the first image;

[0015] The second alarm module is used to output a second alarm instruction to the alarm device when there is a white lane line in the second image.

[0016] In a second aspect, the present application provides a lane departure remote warning method, which is applied to any of the above lane departure remote warning systems, including:

[0017] Receiving a first image taken by the left camera and a second image taken by the right camera;

[0018] performing image recognition on the first image and the second image;

[0019] When there is a white lane line in the first image, outputting a first alarm instruction to the alarm device;

[0020] When there is a white lane line in the second image, a second alarm instruction is output to the alarm device.

[0021] Preferably, before receiving the first image taken by the left camera and the second image taken by the right camera, the method further includes: receiving a current steering wheel angle acquired by the steering wheel angle sensor; calculating the current deflection angles of the left front wheel and the right front wheel according to the current steering wheel angle; and outputting a first control instruction to the left telescopic rod and a second control instruction to the right telescopic rod according to the deflection angles.

[0022] Preferably, outputting a first control instruction to the left telescopic rod and a second control instruction to the right telescopic rod according to the deflection angle includes: when the deflection angle is a rightward deflection angle α, outputting a first control instruction to the left telescopic rod so that the left telescopic rod is shortened by d·tanα, and outputting a second control instruction to the right telescopic rod so that the right telescopic rod is extended by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

[0023] Preferably, outputting a first control instruction to the left telescopic rod and a second control instruction to the right telescopic rod according to the deflection angle includes: when the deflection angle is a left deflection angle α, outputting a first control instruction to the left telescopic rod so that the left telescopic rod is extended by d·tanα, and outputting a second control instruction to the right telescopic rod so that the right telescopic rod is shortened by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

[0024] Preferably, before receiving the first image taken by the left camera and the second image taken by the right camera, the method further comprises: after receiving a system startup instruction, turning on the left camera and the right camera.

[0025] The beneficial effects of this application are embodied in:

[0026] The present application provides a lane departure remote warning method and system, in which the left camera and the right camera of the system are respectively fixed to the bottom fixing seat of the vehicle through the left telescopic rod and the right telescopic rod. Since the bottom fixing seat of the vehicle is located in front of the left and right front wheel connecting shafts of the vehicle, the left and right cameras are also arranged in front of the left and right front wheels, and the right camera is arranged toward the ground, for real-time shooting of the road conditions of the left and right front wheels. When a white lane line appears in the picture taken by the left camera or the right camera, the processor promptly sends an alarm instruction to the alarm device to remind the driver not to deviate from the lane.

[0027] Furthermore, the lane departure remote warning system provided by the present application is also provided with a steering wheel angle sensor to detect the rotation angle of the steering wheel. The processor calculates the deflection angle of the left and right front wheels at this time through the rotation angle, and controls the extension and retraction of the right telescopic rod according to the deflection angle to ensure that the left and right cameras are always located directly in front of the left and right front wheels, avoiding judgment errors caused by different shooting angles and ensuring the correctness of lane departure judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the prior art description. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0029] Figure 1 A schematic diagram of the structure of a lane departure remote warning system provided in this application;

[0030] Figure 2 For installation Figure 1 A front view of a car with a lane departure remote warning system is shown;

[0031] Figure 3 for Figure 2 a top view of the car shown;

[0032] Figure 4 When the wheel deflects Figure 2 a top view of the car shown;

[0033] Figure 5 for Figure 4 A magnified view of the mid-front wheel system;

[0034] Figure 6 A flowchart of a lane departure remote warning method provided in this application;

[0035] Figure 7 A flowchart of another lane departure remote warning method provided in this application.

[0036] In the attached drawings, 101 is a processor, 102 is a vehicle bottom fixing seat, 103 is a left telescopic rod, 104 is a right telescopic rod, 105 is a left camera, 106 is a right camera, 107 is a steering wheel angle sensor, 108 is an alarm device, 120 is a connecting shaft, 210 is a left front wheel, and 220 is a right front wheel. DETAILED DESCRIPTION

[0037] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0038] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0039] like Figures 1 to 5 As shown, the present application provides a lane departure remote warning system, which is installed on a car body and includes: a processor 101, a vehicle bottom fixing base 102, a left telescopic rod 103, a right telescopic rod 104, a left camera 105, a right camera 106, a steering wheel angle sensor 107 and an alarm device 108.

[0040] like Figure 2 As shown, the vehicle bottom fixing seat 102 is arranged on the bottom of the vehicle, and the vehicle bottom fixing seat 102 is located in front of the left front wheel 210 and the right front wheel 220 of the vehicle. The left telescopic rod 103 and the right telescopic rod 104 are respectively fixed on both sides of the vehicle bottom fixing seat 102, and the left telescopic rod 103 and the right telescopic rod 104 are both in the direction of the vehicle body ( Figure 2 The dotted arrow direction is perpendicular to the

[0041] The left camera 105 is disposed at the end of the left telescopic rod 103 , and the right camera 106 is disposed at the end of the right telescopic rod 104 ; the lenses of the left camera 105 and the right camera 106 are both disposed toward the ground.

[0042] The processor 101 is electrically connected to the steering wheel angle sensor 107 , the left telescopic rod 103 , the right telescopic rod 104 , the left camera 105 , the right camera 106 , and the alarm device 108 , respectively.

[0043] like Figure 2 As shown, preferably, the line connecting the center of the vehicle bottom fixing seat 102 and the center of the connecting shaft 120 is the symmetry line of the left front wheel 210 and the right front wheel 220. It can be understood that when the steering wheel is stationary, the distance L1 from the side surface of the vehicle bottom fixing seat 102 fixed to the left telescopic rod 103 to the side surface of the left front wheel 210 facing the right front wheel 220 is equal to the distance L2 from the side surface of the vehicle bottom fixing seat 102 fixed to the right telescopic rod 104 to the side surface of the right front wheel 220 facing the left front wheel 210.

[0044] Preferably, the distance from the center of the vehicle bottom fixing seat 102 to the center of the connecting shaft 120 is greater than the radius of the front wheel of the vehicle. It can be understood that the left camera 105 is used to capture the image directly in front of the left front wheel 210 when the vehicle is moving, and the right camera 106 is used to capture the image directly in front of the right front wheel 220 when the vehicle is moving.

[0045] It can be understood that the first embodiment of the present application provides a lane departure remote warning system, in which the left camera 105 and the right camera 106 of the system are respectively fixed to the vehicle bottom fixing seat 102 through the left telescopic rod 103 and the right telescopic rod 104. Since the vehicle bottom fixing seat 102 is located in front of the left and right front wheel connecting shafts 120 of the vehicle, the left and right cameras are also arranged in front of the left and right front wheels, and the left and right cameras are arranged toward the ground for real-time shooting of the road conditions of the left and right front wheels. When a white lane line appears in the picture taken by the left camera 105 or the right camera 106, the processor 101 promptly sends an alarm instruction to the alarm device 108 to remind the driver not to deviate from the lane.

[0046] Preferably, the warning device 108 includes a speaker, an indicator light, a digital tube or an electronic display. Further, the indicator light includes a left indicator light and a right indicator light. When a white lane line appears in the picture taken by the left camera 105, the processor 101 lights up the left indicator light to remind the driver to be careful not to cross the line and deviate from the lane with the left front wheel; when a white lane line appears in the picture taken by the right camera 106, the processor 101 lights up the right indicator light to remind the driver to be careful not to cross the line and deviate from the lane with the right front wheel.

[0047] Furthermore, the lane departure remote warning system provided by the present application is also provided with a steering wheel angle sensor 107 to detect the rotation angle of the steering wheel. The processor 101 calculates the deflection angle α of the left and right front wheels at this time through the rotation angle, and controls the extension and retraction of the right telescopic rod 104 according to the deflection angle to ensure that the left and right cameras are always located directly in front of the left and right front wheels, avoiding judgment errors caused by different shooting angles and ensuring the correctness of lane departure judgment.

[0048] like Figure 4 and Figure 5 As shown, since the driver turns the steering wheel to make the front wheels of the car deflect to the right by an angle α, the distance d from the axis of the left front wheel 210 to the left telescopic rod 103, and the distance d from the axis of the right front wheel 220 to the right telescopic rod 104, then the processor 101 should control the left telescopic rod 103 to retract a distance d·tanα, and control the right telescopic rod 104 to extend a distance d·tanα according to the deflection angle α and the distance d.

[0049] Preferably, the system further includes a touch screen, which is electrically connected to the processor 101. It is understood that the user can turn on or off the lane departure remote warning system through the touch screen according to their own needs. After receiving the system shutdown command issued by the touch screen, the processor 101 controls the left and right cameras to turn off; after receiving the system startup command issued by the touch screen, the processor 101 controls the left and right cameras to turn on.

[0050] like Figure 6 As shown, the present application provides a lane departure remote warning method 600, which is applied to any of the above lane departure remote warning systems. The method 600 includes:

[0051] 610. Receive a first image taken by a left camera and a second image taken by a right camera.

[0052] It can be understood that according to the above lane departure remote warning system, the left and right cameras are also arranged in front of the left and right front wheels, and the left and right cameras are arranged toward the ground to capture the road conditions of the left and right front wheels in real time. In the embodiment of the present application, the first image is the road condition of the left front wheel, and the second image is the road condition of the right front wheel.

[0053] 620. Perform image recognition on the first image and the second image.

[0054] 630. When a white lane line exists in the first image, output a first alarm instruction to an alarm device.

[0055] 640. When a white lane line exists in the second image, output a second alarm instruction to the alarm device.

[0056] It can be understood that when a white lane line appears in the picture taken by the left camera 105 or the right camera 106, the processor 101 promptly sends an alarm instruction to the alarm device 108 to remind the driver not to deviate from the lane. Preferably, the alarm device 108 includes a speaker, an indicator light, a digital tube or an electronic display. Further, the indicator light includes a left indicator light and a right indicator light. When a white lane line appears in the picture taken by the left camera 105, the processor 101 lights up the left indicator light to remind the driver to be careful not to cross the left front wheel and deviate from the lane; when a white lane line appears in the picture taken by the right camera 106, the processor 101 lights up the right indicator light to remind the driver to be careful not to cross the right front wheel and deviate from the lane.

[0057] like Figure 7 As shown, the present application provides a lane departure remote warning method 700. Compared with the method 600, before receiving the first image taken by the left camera and the second image taken by the right camera, the method 700 further includes:

[0058] 701. Receive a current steering wheel rotation angle collected by a steering wheel angle sensor.

[0059] 702. Calculate the current deflection angles of the left front wheel and the right front wheel according to the current steering wheel rotation angle.

[0060] 703. According to the deflection angle, a first control instruction is output to the left telescopic rod, and a second control instruction is output to the right telescopic rod.

[0061] Preferably, according to the deflection angle, a first control instruction is output to the left telescopic rod and a second control instruction is output to the right telescopic rod, including: when the deflection angle is a right deflection angle α, a first control instruction is output to the left telescopic rod to shorten the left telescopic rod by d·tanα, and a second control instruction is output to the right telescopic rod to extend the right telescopic rod by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

[0062] Preferably, according to the deflection angle, a first control instruction is output to the left telescopic rod, and a second control instruction is output to the right telescopic rod, including: when the deflection angle is a left deflection angle α, a first control instruction is output to the left telescopic rod to extend the left telescopic rod by d·tanα, and a second control instruction is output to the right telescopic rod to shorten the right telescopic rod by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

[0063] It can be understood that the lane departure remote warning system provided by the present application is also provided with a steering wheel angle sensor 107 to detect the rotation angle of the steering wheel. The processor 101 calculates the deflection angle α of the left and right front wheels at this time through the rotation angle, and controls the extension and retraction of the right telescopic rod 104 according to the deflection angle to ensure that the left and right cameras are always located directly in front of the left and right front wheels, avoiding judgment errors caused by different shooting angles and ensuring the correctness of lane departure judgment.

[0064] Preferably, before receiving the first image captured by the left camera and the second image captured by the right camera, the method further includes: after receiving the system startup instruction, turning on the left camera and the upper right camera. It is understandable that the user can turn on or off the above lane departure remote warning system through the touch screen according to their own needs. After receiving the system shutdown instruction issued by the touch screen, the processor 101 controls the left and right cameras to turn off; after receiving the system startup instruction issued by the touch screen, the processor 101 controls the left and right cameras to turn on.

[0065] In an embodiment of the present application, the processor includes a receiving module, an image recognition module, a first alarm module and a second alarm module;

[0066] A receiving module, used to receive a first image taken by the left camera and a second image taken by the right camera;

[0067] An image recognition module, configured to perform image recognition on the first image and the second image;

[0068] A first alarm module, configured to output a first alarm instruction to the alarm device when there is a white lane line in the first image;

[0069] The second alarm module is used to output a second alarm instruction to the alarm device when there is a white lane line in the second image.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application.

Claims

1. A lane departure remote warning method, the method is applied to a lane departure remote warning system, characterized in that: The system is installed on the vehicle body and includes: a processor, a vehicle bottom fixing seat, a left telescopic rod, a right telescopic rod, a left camera, a right camera, a steering wheel angle sensor and an alarm device; The bottom fixing seat is arranged on the bottom of the vehicle, and the bottom fixing seat is located in front of the left front wheel and the right front wheel connecting shaft of the vehicle; the left telescopic rod and the right telescopic rod are respectively fixed on both sides of the bottom fixing seat, and the left telescopic rod and the right telescopic rod are perpendicular to the direction of the vehicle body; The left camera is arranged at the end of the left telescopic rod, and the right camera is arranged at the end of the right telescopic rod; the lenses of the left camera and the right camera are both arranged facing the ground; The processor is electrically connected to the steering wheel angle sensor, the left telescopic rod, the right telescopic rod, the left camera, the right camera, and the alarm device respectively; The line connecting the center of the underbody fixing seat and the center of the coupling is the symmetry line of the left front wheel and the right front wheel; The distance from the center of the vehicle bottom fixing seat to the center of the coupling is greater than the radius of the front wheel of the vehicle; The system further comprises a touch screen, wherein the touch screen is electrically connected to the processor; The processor includes a receiving module, an image recognition module, a first alarm module and a second alarm module; The receiving module is used to receive the first image taken by the left camera and the second image taken by the right camera; the image recognition module is used to perform image recognition on the first image and the second image; the first alarm module is used to output a first alarm instruction to the alarm device when there is a white lane line in the first image; the second alarm module is used to output a second alarm instruction to the alarm device when there is a white lane line in the second image; The method comprises: receiving a first image taken by the left camera and a second image taken by the right camera; performing image recognition on the first image and the second image; outputting a first alarm instruction to the alarm device when a white lane line exists in the first image; and outputting a second alarm instruction to the alarm device when a white lane line exists in the second image; Before receiving the first image taken by the left camera and the second image taken by the right camera, the method also includes: receiving a current steering wheel angle acquired by the steering wheel angle sensor; calculating the current deflection angles of the left front wheel and the right front wheel according to the current steering wheel angle; and outputting a first control instruction to the left telescopic rod according to the deflection angle to extend or shorten the left telescopic rod, and outputting a second control instruction to the right telescopic rod to extend or shorten the right telescopic rod.

2. The lane departure remote warning method according to claim 1, characterized in that: According to the deflection angle, when the deflection angle is a rightward deflection angle α, a first control instruction is output to the left telescopic rod to shorten the left telescopic rod by d·tanα, and a second control instruction is output to the right telescopic rod to extend the right telescopic rod by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

3. The lane departure remote warning method according to claim 1, characterized in that: According to the deflection angle, when the deflection angle is a left deflection angle α, a first control instruction is output to the left telescopic rod to extend the left telescopic rod by d·tanα, and a second control instruction is output to the right telescopic rod to shorten the right telescopic rod by d·tanα, wherein d is the distance from the axis of the left and right front wheels to the left and right telescopic rods.

4. The lane departure remote warning method according to claim 1, characterized in that: Before receiving the first image taken by the left camera and the second image taken by the right camera, the method further includes: after receiving a system startup instruction, turning on the left camera and the right camera.

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