Lane departure warning methods and lane departure warning systems

Abstract

This invention relates to a lane departure warning method and system. The lane departure warning method of this invention includes: a warning area calculation step, which calculates the warning area where the vehicle is deviating from its lane based on vehicle information and surrounding information; a decision step, which compares the vehicle's current position with the warning area calculated in the warning area calculation step, determines whether the vehicle is within the warning area, and outputs a decision command; and an alarm step, which executes an alarm action based on the decision command. According to this invention, it is possible to more accurately predict the likelihood of a vehicle deviating from its lane and issue a timely warning when there is a tendency to deviate from its lane.

Description

Technical Field

[0001] This invention relates to vehicle control technology, specifically to a lane departure warning method and system applied to fully automated driving. Background Technology

[0002] Lane departure warning is a key technology for autonomous driving. Current lane departure warning technologies for autonomous driving are mostly limited to Lane Departure Warning (LDW) and Lane Keeping Assist (LKA). These technologies only provide lateral control or warnings when the vehicle has already deviated from its lane. Lane Departure Warning (LDW) alerts the driver when the current camera detects the vehicle is about to deviate from its lane. Lane Keeping Assist (LKA) sends a message to the control center when the current camera detects the vehicle is about to deviate from its lane, and then the control center issues instructions to correct the vehicle's direction. Current technologies also include lateral control, primarily through exiting LKS when lane departure occurs while maintaining lane centering (LKS).

[0003] Current technology cannot provide alarm alerts that are more relevant to the scenario, urgency, and driver operation based on the degree of lane departure or risk. Summary of the Invention

[0004] In view of the above problems, the present invention aims to provide a lane departure warning method and a lane departure warning system that can accurately predict the occurrence of lane departure by a vehicle and issue a timely warning.

[0005] A lane departure warning method according to one aspect of the present invention is characterized by comprising:

[0006] The alarm zone calculation steps are as follows: the alarm zone for the vehicle to deviate from its lane is calculated based on the vehicle's own information and the information around the vehicle.

[0007] The decision-making step compares the vehicle's current location with the alarm area calculated in the alarm area calculation step, determines whether the vehicle is within the alarm area, and outputs a decision command; and

[0008] The alarm procedure involves executing an alarm action based on the decision instruction.

[0009] Optionally, the alarm zone calculation step includes:

[0010] The deviation calculation sub-step calculates the lane line deviation value based on vehicle information and surrounding information; and

[0011] The alarm area correction sub-step uses the lane line deviation value calculated in the deviation value calculation sub-step to correct the original lane line and obtain the corrected lane line. The area defined by the corrected lane line is used as the alarm area for vehicle lane departure.

[0012] Optionally, in the deviation value calculation sub-step, the lane line deviation value is calculated based on any one of the following, or the sum of any two or more of the following is used as the lane line deviation value:

[0013] Calculate the lane line deviation value based on the lane width;

[0014] Calculate lane line deviation based on lane curvature;

[0015] Calculate lane line deviation based on vehicle lateral acceleration.

[0016] The deviation of the lane line is calculated based on the vehicle's lateral velocity relative to the lane.

[0017] Based on the driver's torque input, the lane deviation is calculated; and

[0018] The deviation of the lane line is calculated based on the vehicle's dwell time.

[0019] Optionally, in the deviation value calculation sub-step,

[0020] Calculating lane line deviation based on lane width means using a pre-defined correspondence between lane width and lane line deviation values, and then obtaining the corresponding lane line deviation value from this correspondence based on the current lane width as the lane line deviation value.

[0021] Calculating lane line deviation based on lane curvature means determining the deviation value of the original lane line by calculating the specified distance it has shifted outward or inward relative to the lane center, based on the magnitude of road curvature.

[0022] Calculating lane deviation based on vehicle lateral acceleration means that, if the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, the original lane line on the outer side of the curve is shifted inward by a predetermined distance as the lane deviation value, making the deviation value of the original lane line on the inner side of the curve zero; or, if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, the original lane line on the inner side of the curve is shifted outward by a predetermined distance as the lane deviation value, making the deviation value of the original lane line on the outer side of the curve zero; or, if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, the original lane line on the inner side of the curve is shifted outward by a predetermined distance as the lane deviation value.

[0023] Calculating lane deviation based on the vehicle's lateral speed relative to the lane means, when the vehicle is facing right of the lane, calculating the deviation by moving the original right lane line inward by a specified distance and the original left lane line outward by a specified distance; when the vehicle is facing left of the lane, calculating the deviation by moving the original left lane line inward by a specified distance and the original right lane line outward by a specified distance.

[0024] The lane deviation value calculated based on the driver's torque input refers to calculating the specified distance the original lane line on the left would shift outward when the driver increases the torque to the right of the steering wheel, and the specified distance the original lane line on the right would shift outward when the driver increases the torque to the left of the steering wheel. This distance is used as the lane deviation value.

[0025] The deviation value of the lane line calculated based on the vehicle dwell time refers to the deviation value calculated by moving the original lane line on the side where the vehicle is staying outward by a predetermined distance when the vehicle dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward.

[0026] Optionally, in the decision instruction judgment step, it is determined whether the driver has applied torque above a specified threshold on the steering wheel. If it is determined that the driver has not applied torque above the specified threshold on the steering wheel, the automatic driving navigation is exited. If it is determined that the driver has not applied torque above the specified threshold on the steering wheel, it is determined whether the vehicle has deviated from the lane based on the corrected lane line.

[0027] Optionally, in the decision instruction step, a decision instruction is output based on the magnitude of the lane line deviation value to enable the execution of alarms of different intensities.

[0028] The lane departure warning system of this invention is characterized by comprising:

[0029] The alarm zone calculation device is used to calculate the alarm zone for a vehicle deviating from its lane based on information about the vehicle itself and the surrounding environment.

[0030] A decision-making device is used to compare the vehicle's current location with the alarm area calculated by the alarm area calculation device, determine whether the vehicle is located within the alarm area, and output a decision command; and

[0031] An alarm device is used to execute an alarm action based on the decision command.

[0032] Optionally, the alarm zone calculation device includes:

[0033] The deviation calculation submodule is used to calculate the lane line deviation value based on vehicle information and information about the vehicle's surroundings; and

[0034] The alarm area correction submodule is used to correct the original lane line using the lane line deviation value calculated in the deviation value calculation submodule and obtain the corrected lane line. The area defined by the corrected lane line is used as the alarm area for vehicle lane departure.

[0035] Optionally, the deviation calculation submodule may include any one or more of the following deviation calculation modules:

[0036] The first deviation value calculation module is used to calculate the deviation value of the lane line based on the lane width.

[0037] The second deviation calculation module is used to calculate the deviation of the lane line based on the lane curvature.

[0038] The third deviation calculation module is used to calculate the deviation value of the lane line based on the vehicle's lateral acceleration.

[0039] The fourth deviation calculation module is used to calculate the deviation of the lane line based on the vehicle's lateral speed relative to the lane.

[0040] The fifth deviation calculation module is used to calculate the lane deviation based on the driver's torque input; and

[0041] The sixth deviation value calculation module is used to calculate the lane line deviation value based on the vehicle's dwell time.

[0042] Optionally, the first deviation value calculation module, based on a pre-defined correspondence between lane width and lane line deviation values, uses the lane line deviation value obtained from the correspondence according to the current lane width as the lane line deviation value.

[0043] The second deviation calculation module calculates the deviation value of the original lane line as the distance by which it shifts outward or inward relative to the lane center, based on the magnitude of the road curvature.

[0044] The third deviation calculation module calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the outside of the curve inward as the lane line deviation value, making the deviation value of the original lane line on the inside of the curve zero; or it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the inside of the curve outward as the lane line deviation value, making the deviation value of the original lane line on the outside of the curve zero; or it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the inside of the curve outward as the lane line deviation value.

[0045] When the vehicle is facing the right side of the lane, the fourth deviation value calculation module calculates the lane line deviation value by moving the original lane line on the right inward by a specified distance and by moving the original lane line on the left outward by a specified distance. When the vehicle is facing the left side of the lane, it calculates the lane line deviation value by moving the original lane line on the left inward by a specified distance and by moving the original lane line on the right outward by a specified distance.

[0046] The fifth deviation value calculation module calculates the lane line deviation value by shifting the original lane line on the left outward by a predetermined distance when the driver increases the steering wheel torque to the right, and by shifting the original lane line on the right outward by a predetermined distance when the driver increases the steering wheel torque to the left.

[0047] If the sixth deviation value calculation module determines that the vehicle's dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward, it calculates a predetermined distance by which the original lane line on the side where the vehicle is staying is shifted outward as the deviation value.

[0048] Optionally, the decision-making device determines whether the driver applies torque above a predetermined threshold on the steering wheel. If it determines that the driver has not applied torque above the predetermined threshold on the steering wheel, it exits the automatic driving navigation. If it determines that the driver has not applied torque above the predetermined threshold on the steering wheel, it determines whether the vehicle has deviated from the lane based on the corrected lane line.

[0049] Optionally, the decision-making device outputs decision instructions for different intensities of alarm based on the magnitude of the lane line deviation value.

[0050] A vehicle according to one aspect of the present invention is characterized by including the lane departure warning system described above.

[0051] The present invention provides a computer-readable medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the lane departure warning method described above.

[0052] A computer device according to one aspect of the present invention includes a storage module, a processor, and a computer program stored on the storage module and executable on the processor, characterized in that the processor implements the above-described lane departure warning method when executing the computer program. Attached Figure Description

[0053] Figure 1 This is a schematic diagram illustrating the construction of an example of an ADAS (Advanced Driver Assistance System) that applies the lane departure system of the present invention.

[0054] Figure 2 This is a schematic flowchart illustrating a lane departure warning method according to an embodiment of the present invention.

[0055] Figure 3 This is a schematic diagram illustrating the calculation of the lane departure warning area in the lane departure warning method of the present invention.

[0056] Figure 4 It is a lane width table that shows the correspondence between DwL and lane width wL.

[0057] Figure 5 It means D Curv A schematic diagram illustrating the relationship between road curvature and road curvature.

[0058] Figure 6 It means D RelLatSpd A diagram illustrating the relationship between the vehicle's lateral speed and its lateral velocity.

[0059] Figure 7 It means D Ovrd A diagram illustrating the relationship between torque and driver input.

[0060] Figure 8 It means D Sojurn A diagram illustrating the relationship between vehicle dwell time and other factors.

[0061] Figure 9 This is a structural block diagram illustrating a lane departure warning system according to an embodiment of the present invention.

[0062] Figure 10 This is a flowchart illustrating a decision-making process involving a change in the decision-making device.

[0063] Figure 11 A schematic diagram illustrating an example of the frequency variation of the alarm sound from an alarm module. Detailed Implementation

[0064] The following are some embodiments of the present invention, intended to provide a basic understanding of the invention. They are not intended to identify key or decisive elements of the invention or to limit the scope of protection sought.

[0065] For purposes of brevity and illustrativeness, the principles of the invention are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equivalently applicable to all types of lane departure warning methods and lane departure warning systems, and that these same principles can be implemented therein, with any such variations not departing from the true spirit and scope of this patent application.

[0066] Furthermore, reference is made in the following description to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical, and structural modifications may be made to these embodiments without departing from the spirit and scope of the invention. Moreover, while features of the invention are disclosed in conjunction with only one of several embodiments, this feature may be combined with one or more other features of other embodiments if desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be considered limiting in any sense, and the scope of the invention is defined by the appended claims and their equivalents.

[0067] Terms such as “possessing” and “comprising” indicate that, in addition to having units (modules) and steps that are directly and explicitly stated in the specification and claims, the technical solution of the present invention does not exclude the presence of other units (modules) and steps that are not directly or explicitly stated.

[0068] The lane departure warning method and system of the present invention relate to lateral control in autonomous driving. The main technical concept is as follows: First, the lane departure warning area is calculated in real time based on information about the vehicle itself and information about the surrounding environment. For example, the lane line (i.e., the original lane line) is obtained from the vehicle's sensors. The deviation value of the lane line is calculated, and the lane line is corrected based on the deviation value to obtain the corrected lane line. The area defined by the corrected lane line is used as the lane departure warning area. Second, the vehicle's current position is compared with the lane departure warning area to determine whether the vehicle has entered the lane departure warning area. If the vehicle is found to have entered the lane departure warning area, an alarm is issued to remind the driver.

[0069] Before describing the lane departure warning method and lane departure warning system of the present invention, a brief description of the vehicle's ADAS system will be given first.

[0070] ADAS (Advanced Driving Assistance System) utilizes various sensors installed in the vehicle (millimeter-wave radar, lidar, monocular / dual-lens cameras, and satellite navigation, etc.) to continuously sense the surrounding environment while the car is in motion, collect data, identify, detect, and track static and dynamic objects, and combine this with navigation map data to perform system calculations and analyses, thereby allowing the driver to be aware of potential dangers in advance, effectively increasing the comfort and safety of driving.

[0071] Figure 1 This is a schematic diagram illustrating the construction of an example of an ADAS (Advanced Driver Assistance System) that applies the lane departure system of the present invention.

[0072] like Figure 1 As shown, the ADAS control system communicates with sensors, actuators, or controllers such as cameras, radars, VCUs (Vehicular Communication Units), BCUs (Battery Control Units), SCMs (Steering Control Modules), ACMs (Auxiliary Control Modules), CDCs (Continuous Damping Controls), and EPSs (Electric Power Steering) via the CAN bus.

[0073] ADAS (Advanced Driver Assistance Systems) uses sensors such as cameras and radar to acquire information about roads, road signs, and other vehicles. It also uses systems like VCU (Vehicle Control Unit), BCU (Battery Control Unit), SCM (Standard Motor Control), ACM (Automatic Motor Control), EPS (Electric Power Supply), and CDC (Disturbance Control System) to obtain information about the vehicle's speed, acceleration, gear position, steering, driver lateral control torque, mode selection, and faults. ADAS provides drivers with real-time information on the vehicle's operating status and facilitates communication through CDC warnings, current active mode, and lane information. When the vehicle's lateral control system is activated, ADAS sends a real-time target steering angle or torque request to the EPS to control the vehicle's steering, replacing manual steering input.

[0074] ADAS includes two key control systems: longitudinal control and lateral control. This invention only relates to lane departure warning, which is part of lateral control. Figure 1As shown in the block diagram of the "lateral control" section, after the input signal is processed (e.g., filtering, validity judgment, fault diagnosis, etc.), the lane departure warning area is calculated in real time based on the processed input signal and output to the decision-making device. The decision-making device makes a decision, which may include lateral control and alarm intervention.

[0075] The lane departure warning method of the present invention will be described below.

[0076] Figure 2 This is a schematic flowchart illustrating a lane departure warning method according to an embodiment of the present invention.

[0077] like Figure 2 As shown, the lane departure warning method of the present invention mainly includes the following steps:

[0078] Alarm zone calculation step S100: Calculate the alarm zone for the vehicle to deviate from its lane based on the vehicle's own information and the information around the vehicle;

[0079] Decision step S200: Compare the vehicle's current location with the alarm area calculated in the alarm area calculation step S100, determine whether the vehicle is located within the alarm area, and output a decision command; and

[0080] Alarm step S300: Execute an alarm action based on the decision instruction.

[0081] In the alarm zone calculation step S100, it can be further divided into:

[0082] Deviation value calculation sub-step S101: Calculate the lane line deviation value based on vehicle information and surrounding information; and

[0083] Alarm area correction sub-step S102: The deviation value of the lane line calculated in the deviation value calculation sub-step S101 is used to correct the original lane line and obtain the corrected lane line. The area defined by the corrected lane line is used as the alarm area for vehicle lane departure.

[0084] Next, the specific details of how to obtain the lane line deviation value in the deviation value calculation sub-step S101 will be explained.

[0085] In this invention, the deviation value of the lane line is obtained in order to correct the original lane line and obtain the corrected lane line. The lane departure warning area is defined by the corrected lane line (i.e., if the vehicle exceeds the corrected lane line, it means that the vehicle has entered the lane departure warning area). The subsequent lane departure judgment is realized based on the lane departure warning area.

[0086] Figure 3This is a schematic diagram illustrating the calculation of the lane departure warning area in the lane departure warning method of the present invention. For example... Figure 3 As shown, the straight line on the left represents the original left lane line, and the shaded area around this line represents the lane departure warning area on the left. Similarly, the straight line on the right represents the original right lane line, and the shaded area around this line represents the lane departure warning area on the right. The "lane departure warning area" is a corrected lane line obtained by correcting the original left / right lane lines according to the lane line deviation value. The corrected lane line defines the lane departure warning area.

[0087] In this invention, the calculation methods for the lane departure warning areas on the left and right sides are the same. The following explanation uses the lane departure warning area on the left as an example. The calculation method on the right side is the same, and the explanation is omitted here.

[0088] In the lane departure warning method and lane departure system of the present invention, the lane departure warning area is estimated in real time based on one or more of the following: vehicle lateral acceleration, current lane width, road curvature, lateral velocity relative to the lane, and torque applied by the driver to the steering wheel.

[0089] Specifically, in the lane departure warning method and lane departure system of the present invention, as a preferred embodiment, the lane departure warning area D on the left side... leftWarnZn For example, it can be calculated using the following formula (1):

[0090] D leftWarnZn =D wL +D Curv +D LatA +D RelLatSpd +D Ovrd +D Sojurn Formula (1).

[0091] Among them, D wL This represents the deviation of the lane line calculated based on the lane width;

[0092] D Curv This represents the deviation of the lane line calculated based on the lane curvature.

[0093] D LatA This represents the deviation of the lane line calculated based on the vehicle's lateral acceleration.

[0094] D RelLatSpd This represents the deviation of the lane line calculated based on the vehicle's lateral velocity relative to the lane.

[0095] D Ovrd This represents the lane deviation calculated based on the driver's steering wheel (torque); and

[0096] D Sojurn This represents the deviation value of the lane line calculated based on the vehicle's dwell time.

[0097] As shown in formula (1), the wider the lane, the more the alarm zone shifts towards the inside of the road, so that the alarm zone does not frequently alarm in narrow lanes, but can still alarm in a timely manner in wide lanes (corresponding to D). wL The greater the lateral acceleration of a vehicle towards the outside of the lane, the greater the likelihood of the vehicle deviating from the lane. The warning zone should be moved further inward to issue an earlier warning, giving the driver more time to take over. For roads with curvature, the warning zone on the outside of the curve (the side furthest from the apex) should be moved inward towards the lane center based on the magnitude of the curvature (corresponding to D). Curv ); and based on the vehicle's lateral speed relative to the lane, determine whether the alarm zone should shift outward to prevent false alarms (corresponding to D). RelLatSpd ).

[0098] On the other hand, the formula above calculates the lane departure warning area D on the left. leftWarnZn Six parameters were used, which is merely a preferred method. In practical applications, any one or more of these six parameters can be selected for calculation, and this is all within the scope of protection of this invention. The calculation method for the right lane departure warning area is the same as that for the left lane departure warning area, and the explanation is omitted here.

[0099] Next, the calculation of the deviation values ​​for the six cases represented by these six parameters will be explained in detail.

[0100] (1) About DwL

[0101] DwL represents the deviation of the lane line calculated based on the lane width. Figure 4 This is a lane width table that represents the correspondence between DwL and lane width wL. DwL is based on... Figure 4 The lane width is obtained from the lane width table shown. This lane width table can be preset or updated and adjusted in real time according to actual conditions. Figure 4 As shown, the horizontal axis represents the lane width wL, and the vertical axis represents DwL. The wider the lane width wL, the larger the DwL, and the more the alarm zone shifts inwards from the lane. This ensures timely alarms even on wide roads, while preventing frequent alarms on narrow roads. The lane width here is calculated based on the left and right lane line information input by the vision system.

[0102] (2) Regarding D Curv

[0103] D Curv This represents the deviation of the lane line calculated based on the lane curvature. Figure 5It means D Curv A schematic diagram illustrating the relationship between road curvature and road surface curvature. (D) Curv This indicates whether to shift the alarm zone outwards or inwards relative to the lane center based on the road curvature. Taking a left turn as an example... Figure 5 As shown, the warning area on the right side of D1 moves a certain distance towards the center of the lane (inwards), which will... Figure 5 The D2 left-side alarm area is moved a certain distance outward from the center of the lane. The road curvature is determined by the vehicle's vision system; in this invention, the greater the curvature, the greater the shift towards the center of the curve, thus enabling earlier alarms.

[0104] (3) Regarding D LatA

[0105] DLatA represents the lane departure value calculated based on the vehicle's lateral acceleration. Here, the warning area calculated based on lateral acceleration (derived from the ACM (airbag control system)) is used as an example for left turns, and so on. Figure 5 In the example of a left turn, if the vehicle's actual lateral acceleration deviates from the expected lateral acceleration for navigating the curve, the alarm zone will be adjusted based on this deviation. If the vehicle's current lateral acceleration (absolute value) is less than the acceleration expected during normal driving in a curve, it indicates that the vehicle is more likely to deviate from the lane center and requires adjustment. Figure 5 The area D1 expands, while the area D2 shrinks or remains unchanged. If the vehicle's current lateral acceleration (absolute value) is greater than the acceleration during normal driving in a curve, it indicates that the vehicle is more likely to veer to the left of the lane, and adjustments need to be made. Figure 5 The D2 region expands, while the D1 region shrinks or remains unchanged.

[0106] The above can be understood as follows: the deviation value of the lane line calculated based on the vehicle's lateral acceleration means that if the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, the lane line on the outside of the curve will be moved inward, while the lane line on the inside of the curve will remain unchanged or be moved inward. If the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, the lane line on the inside of the curve will be moved outward, while the lane line on the outside of the curve will remain unchanged or be moved outward.

[0107] (4) Regarding D RelLatSpd

[0108] D RelLatSpd This represents the deviation of the lane line calculated based on the vehicle's lateral speed relative to the lane. Figure 6 It means D RelLatSpd A diagram illustrating the relationship between lateral velocity and vehicle speed. (Example) Figure 6As shown, in the current state, the vehicle's front is facing right, increasing the likelihood of it deviating from the lane from the right. Therefore, the right-side warning area is moved inwards into the lane based on the magnitude of its lateral speed. Figure 6 As shown in D1, an earlier alarm is issued to give the driver sufficient time to take over; and the probability of the vehicle deviating to the left is reduced, so the left alarm area is moved outward to reduce false alarms.

[0109] The above can be understood as follows: the deviation value of the lane line calculated based on the lateral speed of the vehicle relative to the lane means that if the front of the vehicle is facing the right side of the lane, the right lane line will be moved inward by a specified distance and the left lane line will be moved outward by a specified distance; if the front of the vehicle is facing the left side of the lane, the left lane line will be moved inward by a specified distance and the right lane line will be moved outward by a specified distance.

[0110] (5) Regarding D Ovrd

[0111] D Ovrd This indicates the deviation from the lane line calculated based on the driver's steering wheel (torque) input. Figure 7 It means D Ovrd A diagram illustrating the relationship between torque and driver input. (D) Ovrd This means that based on the driver's steering wheel operation (determined by the steering wheel torque signal provided by EPS), the lane line is corrected after the lane line deviation value is obtained from the warning area.

[0112] like Figure 7 As shown, if the driver actively applies a certain torque to the steering wheel, causing the vehicle to deviate from the lane, the lane deviation value will be adjusted according to the magnitude of the user's steering wheel input. If the driver's input will cause the vehicle to move towards the center of the lane, the system will judge the magnitude of the user's steering wheel input and reduce the size of the warning area if the vehicle is about to move away from one side. Figure 7 When the steering wheel is turned to the right, the warning area on the left will shrink.

[0113] The above can be understood as follows: the lane line deviation value calculated based on the driver's operation of the steering wheel (torque) means that if the driver increases the torque to the right of the steering wheel, the lane line on the left will move outward by a specified distance, and if the driver increases the torque to the left of the steering wheel, the lane line on the right will move outward by a specified distance.

[0114] (6) Regarding D Sojurn

[0115] D Sojurn This represents the deviation value of the lane line calculated based on the vehicle's dwell time.

[0116] Figure 8This is a diagram illustrating the relationship between DSojurn and vehicle dwell time. For example... Figure 8 As shown, if a vehicle remains on one side for an extended period of time and does not continue to deviate outwards, the alarm zone will be moved outwards, reducing the alarm area.

[0117] The above can be understood as follows: the lane line deviation value calculated based on the vehicle's dwell time means that if the vehicle's dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward, the lane line on the side where the vehicle is staying will be moved outward by a specified distance.

[0118] The above explains the specific content of calculating the lane departure warning area based on formula (1). By calculating the deviation value of the lane line, the original lane line can be corrected with the deviation value of the lane line, thereby obtaining the calculation result of the lane departure warning area. Then, by comparing the current position of the vehicle with the lane departure warning area, it can be found whether the vehicle has entered the warning area.

[0119] Figure 9 This is a structural block diagram illustrating a lane departure warning system according to an embodiment of the present invention.

[0120] like Figure 9 As shown, a lane departure warning system according to an embodiment of the present invention includes:

[0121] The alarm zone calculation device 100 is used to calculate the alarm zone for a vehicle deviating from its lane based on information about the vehicle itself and information about the vehicle's surroundings.

[0122] Decision-making device 200 is used to compare the vehicle's current position with the alarm area calculated by the alarm area calculation device 100, determine whether the vehicle is located within the alarm area, and output a decision command; and

[0123] Alarm device 300 is used to execute an alarm action based on the decision command.

[0124] The alarm zone calculation device 100 includes:

[0125] The deviation calculation submodule 101 is used to calculate the lane line deviation value based on vehicle information and information about the vehicle's surroundings; and

[0126] The alarm area correction submodule 102 is used to correct the original lane line by using the lane line deviation value calculated in the deviation value calculation submodule 101 and obtain the corrected lane line, and the area defined by the corrected lane line is used as the alarm area for vehicle lane departure.

[0127] As a preferred example, the deviation value calculation submodule 101 includes any one or more of the following: first deviation value calculation module 110 to sixth deviation value calculation module 160:

[0128] The first deviation value calculation module 110 is used to calculate the deviation value of the lane line based on the lane width;

[0129] The second deviation value calculation module 120 is used to calculate the deviation value of the lane line based on the lane curvature.

[0130] The third deviation value calculation module 130 is used to calculate the deviation value of the lane line based on the vehicle's lateral acceleration.

[0131] The fourth deviation value calculation module 140 is used to calculate the deviation value of the lane line based on the vehicle's lateral speed relative to the lane.

[0132] The fifth deviation calculation module 150 is used to calculate the lane deviation value based on the driver's torque input; and

[0133] The sixth deviation value calculation module 160 is used to calculate the deviation value of the lane line based on the vehicle's dwell time.

[0134] The specific functions of the first deviation value calculation module 110 to the sixth deviation value calculation module 160 are described below.

[0135] The first deviation value calculation module 110 uses the deviation value of the lane line obtained from the corresponding relationship based on the current lane width as the deviation value of the lane line, based on the pre-set correspondence between the lane width and the lane line deviation value.

[0136] The second deviation calculation module 120 calculates the deviation value of the original lane line as a specified distance that the lane line moves outward or inward relative to the lane center, based on the magnitude of the road curvature.

[0137] If the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, the third deviation value calculation module 130 calculates a predetermined distance by which the original lane line on the outside of the curve is shifted inward as the deviation value of the lane line, and makes the deviation value of the original lane line on the inside of the curve 0. Alternatively, it calculates a predetermined distance by which the original lane line on the inside of the curve is shifted inward as the deviation value of the lane line. If the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance by which the original lane line on the inside of the curve is shifted outward as the deviation value of the lane line, and makes the deviation value of the original lane line on the outside of the curve 0. Alternatively, it calculates a predetermined distance by which the original lane line on the outside of the curve is shifted outward as the deviation value of the lane line.

[0138] When the vehicle is facing the right side of the lane, the fourth deviation value calculation module 140 calculates a predetermined distance by which the original lane line on the right side is moved inward and a predetermined distance by which the original lane line on the left side is moved outward as the deviation value of the lane line. When the vehicle is facing the left side of the lane, the module calculates a predetermined distance by which the original lane line on the left side is moved inward and a predetermined distance by which the original lane line on the right side is moved outward as the deviation value of the lane line.

[0139] The fifth deviation value calculation module 150 calculates a predetermined distance by which the original lane line on the left is shifted outward as the lane line deviation value when the driver increases the torque to the right of the steering wheel, and calculates a predetermined distance by which the original lane line on the right is shifted outward as the lane line deviation value when the driver increases the torque to the left of the steering wheel.

[0140] If the sixth deviation value calculation module 160 determines that the vehicle's dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward, it calculates a predetermined distance by which the original lane line on the side where the vehicle is staying is shifted outward as the deviation value.

[0141] As a variation, the decision-making device 200 can further determine the driver's operation of the steering wheel. Figure 10 This is a flowchart illustrating a decision-making process involving a change in the decision-making device.

[0142] like Figure 10 As shown, the decision-making device judges the torque applied by the driver on the steering wheel, specifically whether the driver has obviously over-operated (e.g., applied torque exceeding a specified threshold). When the decision-making device judges the degree of obvious over-operation of the steering wheel, that is, when the driver has a clear intention to control the steering wheel, it issues a decision to exit LKS, that is, to exit lateral control and hand over control of lateral control to the driver. When the decision-making device determines that the driver has not obviously over-operated the steering wheel, it further judges whether the vehicle has entered the lane departure warning area (i.e., based on the corrected lane lines, it judges whether the vehicle has deviated from the lane). If it enters the lane departure warning area, it issues an alarm reminder while maintaining lateral control at the same time; otherwise, it ends the process.

[0143] The alarm module 300 is used to execute alarm actions based on the decision result output by the decision-making device, such as outputting a response sound and lights to alert the driver that the vehicle is about to deviate from its lane. Furthermore, if the vehicle continues to deviate from the lane center after the alert, the alarm sound frequency gradually increases with the degree of lane deviation to provide a more obvious warning to the driver. Figure 11 As shown. Figure 11 This is a schematic diagram illustrating an example of the frequency variation in the alarm sound of an alarm module. Figure 11 The text indicates that the alarm sound frequency of the alarm module increases as the degree of lane departure increases.

[0144] Furthermore, as a changeover, if the decision-making device 200 determines that the vehicle continues to deviate from the lane after being alerted by the first alarm method such as sound and light, the decision-making device 200 further issues a decision command to cause the alarm device 30 to add a second alarm method such as steering wheel vibration and seat vibration for a more obvious reminder; if the decision-making device 200 determines that the vehicle is still deviating from the lane under the action of these alarm methods, then when the center line of the vehicle crosses the original lane line, the decision-making device 200 issues a decision command to exit lateral control.

[0145] According to the lane departure warning method and system of the present invention, a corrected lane line is obtained by calculating the deviation value of the original lane line and correcting the original lane line with the deviation value. The corrected lane line is used to determine whether the vehicle deviates from the lane, which can more accurately predict the situation of the vehicle deviating from the lane and issue an alarm in a timely manner when there is a tendency to deviate from the lane.

[0146] The present invention also provides a vehicle, characterized in that it includes the lane departure warning system described above.

[0147] The present invention also provides a computer-readable medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, provides the lane departure warning method described above.

[0148] The present invention also provides a computer device, including a storage module, a processor, and a computer program stored on the storage module and executable on the processor, characterized in that the processor implements the above-mentioned lane departure warning method when executing the computer program.

[0149] The above examples primarily illustrate the lane departure warning method and lane departure warning system of the present invention. Although only some specific embodiments of the invention have been described, those skilled in the art should understand that the invention can be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are to be considered illustrative rather than restrictive, and the invention may cover various modifications and substitutions without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A lane departure warning method characterized by, include: The alarm zone calculation steps are as follows: the alarm zone for the vehicle to deviate from its lane is calculated based on the vehicle's own information and the information around the vehicle. The decision-making step compares the vehicle's current location with the alarm area calculated in the alarm area calculation step, determines whether the vehicle is located in the alarm area, and outputs a decision command. as well as The alarm procedure involves executing an alarm action based on the decision instruction. The alarm zone calculation step includes: The deviation calculation sub-step calculates the lane line deviation value based on vehicle information and surrounding information; and The alarm zone correction sub-step uses the lane line deviation value calculated in the deviation value calculation sub-step to correct the original lane line and obtain the corrected lane line. The area defined by the corrected lane line is used as the alarm zone for vehicle lane departure. In the deviation value calculation sub-step, the sum of the following deviation values ​​is used as the lane line deviation value: Calculate the lane line deviation value based on the lane width; Calculate lane line deviation based on lane curvature; Calculate lane line deviation based on vehicle lateral acceleration. The deviation of the lane line is calculated based on the vehicle's lateral velocity relative to the lane. Based on the driver's torque input, the lane deviation is calculated; and The lane line deviation is calculated based on the vehicle's dwell time. In the deviation value calculation sub-step, Calculating lane line deviation based on lane width means using a pre-defined correspondence between lane width and lane line deviation values, and then obtaining the corresponding lane line deviation value from this correspondence based on the current lane width as the lane line deviation value. Calculating lane line deviation based on lane curvature means determining the deviation value of the original lane line by calculating the specified distance it has shifted outward or inward relative to the lane center, based on the magnitude of road curvature. Calculating lane deviation based on vehicle lateral acceleration means that, if the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, the original lane line on the outer side of the curve is shifted inward by a predetermined distance as the lane deviation value, making the deviation value of the original lane line on the inner side of the curve zero; or, if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, the original lane line on the inner side of the curve is shifted outward by a predetermined distance as the lane deviation value, making the deviation value of the original lane line on the outer side of the curve zero; or, if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, the original lane line on the inner side of the curve is shifted outward by a predetermined distance as the lane deviation value. Calculating lane deviation based on the vehicle's lateral speed relative to the lane means, when the vehicle is facing right of the lane, calculating the deviation by moving the original right lane line inward by a specified distance and the original left lane line outward by a specified distance; when the vehicle is facing left of the lane, calculating the deviation by moving the original left lane line inward by a specified distance and the original right lane line outward by a specified distance. The lane deviation value calculated based on the driver's torque input refers to calculating the specified distance the original lane line on the left would shift outward when the driver increases the torque to the right of the steering wheel, and the specified distance the original lane line on the right would shift outward when the driver increases the torque to the left of the steering wheel. This distance is used as the lane deviation value. The deviation value of the lane line calculated based on the vehicle dwell time refers to the deviation value calculated by moving the original lane line on the side where the vehicle is staying outward by a predetermined distance when the vehicle dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward.

2. The lane departure warning method as described in claim 1, characterized in that, In the decision instruction judgment step, it is determined whether the driver has applied torque above a specified threshold on the steering wheel. If it is determined that the driver has not applied torque above the specified threshold on the steering wheel, the automatic driving navigation is exited. If it is determined that the driver has not applied torque above the specified threshold on the steering wheel, it is determined whether the vehicle has deviated from the lane based on the corrected lane line.

3. The lane departure warning method as described in claim 1, characterized in that, In the decision instruction step, a decision instruction is output based on the magnitude of the lane line deviation value to enable the execution of alarms of different intensities.

4. A lane departure warning system, characterized in that, include: The alarm zone calculation device is used to calculate the alarm zone for a vehicle deviating from its lane based on information about the vehicle itself and information about the vehicle's surroundings. The decision-making device is used to compare the current position of the vehicle with the alarm area calculated by the alarm area calculation device, determine whether the vehicle is located in the alarm area, and output a decision command. as well as An alarm device is configured to execute an alarm action based on the decision command, wherein the alarm area calculation device includes: The deviation calculation submodule is used to calculate the lane line deviation value based on vehicle information and information about the vehicle's surroundings; and The alarm zone correction submodule is used to correct the original lane line using the lane line deviation value calculated in the deviation value calculation submodule, and obtain the corrected lane line. The area defined by the corrected lane line is used as the alarm zone for vehicle lane departure. The deviation calculation submodule includes the following deviation calculation module, and the sum of the deviation calculations from the following deviation calculation modules is used as the lane line deviation value: The first deviation value calculation module is used to calculate the deviation value of the lane line based on the lane width. The second deviation calculation module is used to calculate the deviation of the lane line based on the lane curvature. The third deviation calculation module is used to calculate the deviation value of the lane line based on the vehicle's lateral acceleration. The fourth deviation calculation module is used to calculate the deviation of the lane line based on the vehicle's lateral speed relative to the lane. The fifth deviation calculation module is used to calculate the lane deviation based on the driver's torque input; and The sixth deviation calculation module is used to calculate the lane line deviation based on the vehicle's dwell time. The first deviation value calculation module, based on a pre-defined correspondence between lane width and lane line deviation values, uses the lane line deviation value obtained from the correspondence according to the current lane width as the lane line deviation value. The second deviation calculation module calculates the deviation value of the original lane line as the distance by which it shifts outward or inward relative to the lane center, based on the magnitude of the road curvature. The third deviation calculation module calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is less than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the outside of the curve inward as the lane line deviation value, making the deviation value of the original lane line on the inside of the curve zero; or it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the inside of the curve outward as the lane line deviation value, making the deviation value of the original lane line on the outside of the curve zero; or it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates the lane line deviation value as follows: if the actual lateral acceleration of the vehicle is greater than the expected lateral acceleration when passing through the curve, it calculates a predetermined distance to shift the original lane line on the inside of the curve outward as the lane line deviation value. When the vehicle is facing the right side of the lane, the fourth deviation value calculation module calculates the lane line deviation value by moving the original lane line on the right inward by a specified distance and by moving the original lane line on the left outward by a specified distance. When the vehicle is facing the left side of the lane, it calculates the lane line deviation value by moving the original lane line on the left inward by a specified distance and by moving the original lane line on the right outward by a specified distance. The fifth deviation value calculation module calculates the lane line deviation value by shifting the original lane line on the left outward by a predetermined distance when the driver increases the steering wheel torque to the right, and by shifting the original lane line on the right outward by a predetermined distance when the driver increases the steering wheel torque to the left. If the sixth deviation value calculation module determines that the vehicle's dwell time is greater than a pre-defined threshold and there is no further tendency to deviate outward, it calculates a predetermined distance by which the original lane line on the side where the vehicle is staying is shifted outward as the deviation value.

5. The lane departure warning system as described in claim 4, characterized in that, The decision-making device determines whether the driver applies torque above a specified threshold on the steering wheel. If it determines that the driver has not applied torque above the specified threshold on the steering wheel, it exits the automatic driving navigation. If it determines that the driver has not applied torque above the specified threshold on the steering wheel, it determines whether the vehicle has deviated from the lane based on the corrected lane lines.

6. The lane departure warning system as described in claim 4, characterized in that, The decision-making device outputs decision instructions for different intensities of alarm based on the magnitude of the lane line deviation.

7. A vehicle, characterized in that, Includes the lane departure warning system as described in any one of claims 4 to 6.

8. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lane departure warning method according to any one of claims 1 to 3.

9. A computer device, comprising a storage module, a processor, and a computer program stored on the storage module and executable on the processor, characterized in that, When the processor executes the computer program, it implements the lane departure warning method according to any one of claims 1 to 3.

Images