Lane departure warning control system and method thereof

Abstract

The present invention discloses a lane departure warning control system and method thereof, comprising: a lane departure detection component detecting the current lane departure state of a vehicle during driving and generating a corresponding current departure instruction based on the current lane departure state; the current departure instruction including a left departure instruction and a right departure instruction; a first display screen disposed on the left A-pillar of the vehicle, in response to receiving the left departure instruction, displaying corresponding lane departure warning information based on the left departure instruction; and a second display screen disposed on the right A-pillar of the vehicle, in response to receiving the right departure instruction, displaying corresponding lane departure warning information based on the right departure instruction. The present invention enables lane departure detection and displays lane departure status via multi-screen linkage, thereby helping drivers better avoid danger.

Description

Technical Field

[0001] The present invention relates to the technical field of lane departure warning technology, and in particular to a lane departure warning control system and method thereof. Background Art

[0002] Current lane departure warning systems lack intuitive and alerting features. Many solutions offer a central control panel or audio prompt when the driver departs from the lane. However, for novice drivers, the sudden audio or visual warning can cause panic and confusion. Therefore, current lane departure warning systems need improvement. Summary of the Invention

[0003] The purpose of the present invention is to provide a lane departure warning control system and method thereof to perform lane departure detection and display the lane departure status through multi-screen linkage to help the driver better avoid danger.

[0004] To achieve the above objectives, according to a first aspect, an embodiment of the present invention provides a lane departure warning control system, comprising:

[0005] A lane departure detection component is used to detect the current lane departure state of the vehicle during driving and generate a corresponding current departure instruction based on the current lane departure state; the current departure instruction includes a left departure instruction and a right departure instruction;

[0006] a first display screen provided on the left A-pillar of the vehicle, configured to display corresponding lane departure warning information according to the left departure indication instruction in response to receiving the left departure indication instruction; and

[0007] A second display screen is provided on the right A-pillar of the vehicle, for displaying corresponding lane departure warning information according to the right deviation indication instruction in response to receiving the right deviation indication instruction.

[0008] Optionally, the lane departure detection component is specifically used to: obtain the position relationship information X between the vehicle and the lane line, the vehicle speed information Y, and the distance information Z between the vehicle and the rear vehicle during the current vehicle driving process, and determine the current lane departure state based on the position relationship information X, speed information Y and distance information Z; wherein the position relationship information includes at least one of the angle between the front of the vehicle and the lane line, the rate of change of the angle between the front of the vehicle and the lane line, and the distance between the wheel and the lane line.

[0009] Optionally, the lane departure state includes a departure direction and a corresponding departure value, the departure direction includes left departure, right departure, and no departure, and the departure value is used to characterize the degree of lane departure.

[0010] Optionally, the first display screen and the second display screen are both flexible display screens with a perspective function, the first display screen is embedded in the left A-pillar, and the second display screen is arranged on the right A-pillar.

[0011] Optionally, when the lane departure state is no deviation, the first display screen and the second display screen are in a perspective state so that the right A-pillar is perspective, so that the left and right A-pillars are perspective;

[0012] When the lane departure state is leftward deviation, the first display screen displays lane departure warning information corresponding to the deviation value, and the second display screen is in a perspective state so as to make the right A-pillar perspective;

[0013] When the lane departure state is rightward deviation, the second display screen displays lane departure warning information corresponding to the deviation value, and the first display screen is in a perspective state to make the left A-pillar perspective.

[0014] According to a second aspect, an embodiment of the present invention further provides a lane departure warning control method, which is implemented based on the lane departure warning control system described in the first aspect. The method includes:

[0015] The lane departure detection component detects the current lane departure state of the vehicle during driving and generates a corresponding current departure instruction according to the current lane departure state; the current departure instruction includes a left departure instruction and a right departure instruction;

[0016] In response to receiving the left departure instruction, the first display screen displays corresponding lane departure warning information according to the left departure instruction;

[0017] In response to receiving the right deviation instruction, the second display screen displays corresponding lane departure warning information according to the right deviation instruction.

[0018] Optionally, the lane departure detection component detects a current lane departure state of the vehicle during driving, including:

[0019] Obtain positional relationship information X between the vehicle and the lane line, vehicle speed information Y, and distance information Z between the vehicle and the vehicle behind during the current vehicle driving process, and determine the current lane departure state based on the positional relationship information X, vehicle speed information Y, and distance information Z. The positional relationship information includes at least one of the angle X1 between the vehicle's front end and the lane line, the rate of change X2 of the angle between the vehicle's front end and the lane line, and the distance X3 between the vehicle wheel and the lane line. The lane departure state includes a deviation direction and a corresponding deviation value, where the deviation direction includes left deviation, right deviation, and no deviation. The deviation value is used to represent the degree of lane departure.

[0020] Optionally, determining the current lane departure state according to the position relationship information X, the vehicle speed information Y, and the distance information Z specifically includes:

[0021] Calculating a first deviation value according to a comparison result between X1 and a preset angle threshold and a first weight coefficient;

[0022] Calculating a second deviation value based on a comparison result of X2 and a preset change rate threshold and a second weight coefficient;

[0023] Calculating a third deviation value based on a comparison result of X3 and a preset vehicle speed threshold and a third weight coefficient;

[0024] Calculating a fourth deviation value based on a comparison result between Y and a preset wheelbase threshold and a fourth weight coefficient;

[0025] Calculating a fifth deviation value based on a comparison result of Z and a preset vehicle distance threshold and a fifth weight coefficient;

[0026] Calculating a current deviation value of the vehicle from the lane line based on the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, and the fifth deviation value;

[0027] Furthermore, if the current deviation value of the vehicle from the lane line is greater than 0, the deviation direction is determined according to X1.

[0028] Optionally, the method specifically includes:

[0029] When the lane departure state is no deviation, the lane departure detection component generates a first deviation indication instruction and sends it to the first display screen and the second display screen respectively;

[0030] In response to receiving the first deviation instruction, the first display screen sets its own state to a perspective state according to the first deviation instruction;

[0031] In response to receiving the first deviation instruction, the second display screen sets its own state to a perspective state according to the first deviation instruction;

[0032] The first display screen and the second display screen are both flexible display screens with a perspective function. The first display screen is embedded in the left A-pillar, and the second display screen is located on the right A-pillar.

[0033] Optionally, the method specifically includes:

[0034] When the lane departure state is left deviation, the lane departure detection component generates a second deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the second deviation indication instruction to the first display screen;

[0035] In response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line.

[0036] Optionally, in response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including:

[0037] The first display screen compares the current vehicle deviation from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current vehicle deviation from the lane line falls, and displays lane departure warning information corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning information;

[0038] The lane departure warning information includes at least warning information, overhead view information of the vehicle, and distance information of the vehicle from the lane.

[0039] Optionally, the method specifically includes:

[0040] When the lane departure state is rightward deviation, the lane departure detection component generates a third deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the third deviation indication instruction to the second display screen;

[0041] In response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line.

[0042] Optionally, in response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including:

[0043] The second display screen compares the current deviation value of the vehicle from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current deviation value of the vehicle from the lane line falls, and displays a lane departure warning message corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning message;

[0044] The lane departure warning information includes at least warning information, overhead view information of the vehicle, and distance information of the vehicle from the lane.

[0045] In summary, embodiments of the present invention provide a lane departure warning control system and method thereof, including a lane departure detection component, a first display screen disposed on the left A-pillar of a vehicle, and a second display screen disposed on the right A-pillar of the vehicle. While the driver is driving the vehicle, the lane departure detection component detects the current lane departure state of the vehicle in real time and generates a corresponding current departure instruction based on the current lane departure state. The current departure instruction includes a left departure instruction and a right departure instruction. In response to receiving the left departure instruction, the first display screen displays corresponding lane departure warning information based on the left departure instruction. In response to receiving the right departure instruction, the second display screen displays corresponding lane departure warning information based on the right departure instruction. Lane departure detection is performed and lane departure status is displayed through multi-screen linkage. When the vehicle deviates to the left, a warning is displayed on the first display screen on the left A-pillar. When the vehicle deviates to the left, a warning is displayed on the second display screen on the right A-pillar. This allows the driver to intuitively understand lane departures without having to look down at the center console (as traditional solutions use a center console display to indicate lane departures), thereby helping the driver better avoid danger.

[0046] Other features and advantages of the present invention will be set forth in the description that follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 The figure is a schematic structural diagram of a lane departure warning control system according to an embodiment of the present invention.

[0049] Figure 2 Schematic diagram of the vehicle's A-pillar structure.

[0050] Figure 3 This is a schematic diagram of the perspective effect of the second display screen on the right A-pillar of the vehicle.

[0051] Figure 4 The figure is a flow chart of a lane departure warning control method according to an embodiment of the present invention.

[0052] Figure 5 FIG. 1 is a schematic diagram of a general deviation scenario in an embodiment of the present invention.

[0053] Figure 6 This is a schematic diagram of a slightly deviated scenario in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In addition, numerous specific details are provided in the following specific examples to better illustrate the present invention. Those skilled in the art will appreciate that the present invention can be practiced without certain specific details. In some instances, means well known to those skilled in the art are not described in detail in order to highlight the main points of the present invention.

[0055] See Figure 1 One embodiment of the present invention provides a lane departure warning control system, comprising:

[0056] A lane departure detection component 1 is used to detect the current lane departure state of the vehicle during driving and generate a corresponding current departure instruction according to the current lane departure state; the current departure instruction includes a left departure instruction and a right departure instruction;

[0057] Specifically, the lane departure detection component 1 in this embodiment can be improved based on an existing lane departure detection system. Existing lane departure detection systems are all configured with the function of detecting the current lane departure state of the vehicle during driving. Furthermore, this embodiment can set and generate a left deviation command, a right deviation command, or a non-departure command based on the detected current lane departure state.

[0058] One of the main purposes of this embodiment is to propose a multi-screen display, and to set the screens on the left and right A-pillars of the vehicle. Figure 2 As shown in A1 in the figure, the right A-pillar is as follows Figure 2 As shown in A2 in the figure, the driver does not need to look down at the central control during driving, and can easily obtain lane departure warning prompts, which is specifically reflected in the following arrangement of the first display screen 2 and the second display screen 3;

[0059] a first display screen 2 provided on the left A-pillar of the vehicle, for displaying corresponding lane departure warning information according to the left departure instruction in response to receiving the left departure instruction instruction; and

[0060] A second display screen 3 is provided on the right A-pillar of the vehicle, and is used for displaying corresponding lane departure warning information according to the right departure indication instruction in response to receiving the right departure indication instruction.

[0061] Based on the description of the above embodiments, it can be seen that the system of this embodiment is capable of lane departure detection and displaying the lane departure status through multi-screen linkage. When the vehicle deviates from the lane to the left, a warning is displayed on the first display screen 2 on the left A-pillar. When the vehicle deviates from the lane to the left, a warning is displayed on the second display screen 3 on the right A-pillar. This allows the driver to have an intuitive understanding of lane departure without having to look down at the central control (the traditional solution uses the central control display to prompt lane departure), thereby helping the driver to better avoid danger.

[0062] Based on the above embodiment system, the following specific examples are also proposed;

[0063] In some specific examples, the lane departure detection component 1 is specifically configured to: obtain positional relationship information X between the vehicle and the lane line, vehicle speed information Y of the vehicle, and distance information Z between the vehicle and the vehicle behind during the current vehicle driving process, and determine the current lane departure state based on the positional relationship information X, vehicle speed information Y, and distance information Z;

[0064] Specifically, the position relationship information X, vehicle speed information Y, and distance information Z are several important factors related to the lane departure state. During the specific implementation process, they can be pre-trained through a deep learning neural network, that is, the position relationship information X, vehicle speed information Y, and distance information Z are used as sample inputs of the deep learning neural network. The sample inputs can be collected during actual vehicle driving, and a corresponding lane departure state is given for each sample input. The lane departure state is also collected during actual vehicle driving. The sample input and the corresponding lane departure state are collected at the same time. The lane departure state is the output of the deep learning neural network. The deep learning neural network can adopt an existing deep learning neural network basic model. Through training and learning, the deep learning neural network required for this embodiment can be obtained. The deep learning neural network can determine the current lane departure state based on the position relationship information X, vehicle speed information Y, and distance information Z.

[0065] The position relationship information includes at least one of the angle between the front of the vehicle and the lane line, the rate of change of the angle between the front of the vehicle and the lane line, and the distance between the wheel and the lane line.

[0066] In some specific examples, the lane departure state includes a departure direction and a corresponding departure value, where the departure direction includes left departure, right departure, and no departure, and the departure value is used to characterize the degree of lane departure.

[0067] In some specific examples, the first display screen 2 and the second display screen 3 are both flexible display screens with a perspective function. The first display screen 2 is embedded in the left A-pillar, and the second display screen 3 is arranged on the right A-pillar.

[0068] Specifically, in this embodiment, a flexible display screen with a perspective function is selected as the first display screen 2 and the second display screen 3. The purpose is that the vehicle A-pillar is an irregular three-dimensional structure, and the flexible display screen can adapt well to the surface structure of the vehicle A-pillar.

[0069] In some specific examples, when the lane departure state is no deviation, that is, the deviation value is 0, the first display screen 2 and the second display screen 3 are in a perspective state so that the right A-pillar is perspective, so that the left and right A-pillars are perspective;

[0070] Specifically, in this embodiment, a part of the left and right A-pillars is set as a flexible display screen, so that the left and right A-pillars have a perspective function, which can effectively avoid the blind spot of the A-pillar. Figure 3 As shown, Figure 3 This is the perspective effect of the right A-pillar. Figure 3 It can be seen that pedestrians are seen through the second transparent display screen 3.

[0071] When the lane departure state is leftward, the first display screen 2 displays lane departure warning information corresponding to the deviation value, and the second display screen 3 is in a perspective state to make the right A-pillar perspective;

[0072] When the lane departure state is rightward deviation, the second display screen 3 displays lane departure warning information corresponding to the deviation value, and the first display screen 2 is in a perspective state to make the left A-pillar perspective.

[0073] Specifically, in the non-deviation state, the first display screen 2 is in a perspective state so as to make the left A-pillar perspective, and the second display screen 3 is in a perspective state so as to make the right A-pillar perspective.

[0074] See Figure 4 Another embodiment of the present invention further provides a lane departure warning control method. The method is implemented based on the lane departure warning control system described in the above embodiment. The method of this embodiment includes the following steps:

[0075] Step S1: The lane departure detection component detects the current lane departure state of the vehicle during driving and generates a corresponding current departure instruction according to the current lane departure state; the current departure instruction includes a left departure instruction and a right departure instruction;

[0076] Step S2: in response to receiving the left departure instruction, the first display screen displays corresponding lane departure warning information according to the left departure instruction;

[0077] Step S3: In response to receiving the right deviation instruction, the second display screen displays corresponding lane departure warning information according to the right deviation instruction.

[0078] The method of this embodiment can perform lane departure detection and display the lane departure status through multi-screen linkage. When the vehicle deviates from the lane to the left, a warning is displayed on the first display screen on the left A-pillar. When the vehicle deviates from the lane to the left, a warning is displayed on the second display screen on the right A-pillar. This allows the driver to have an intuitive understanding of lane departure without having to look down at the central control panel (traditional solutions use a central control panel display to prompt lane departure), thereby helping the driver better avoid danger.

[0079] Based on the above embodiment method, the following specific examples are also proposed;

[0080] In some specific examples, step S1 specifically includes:

[0081] Obtaining positional relationship information X between the vehicle and the lane line, vehicle speed information Y, and distance information Z between the vehicle and the vehicle behind it during the current vehicle driving process, and determining the current lane departure state based on the positional relationship information X, vehicle speed information Y, and distance information Z;

[0082] Specifically, the position relationship information X, vehicle speed information Y, and distance information Z are several important factors related to the lane departure state. During the specific implementation process, they can be pre-trained through a deep learning neural network, that is, the position relationship information X, vehicle speed information Y, and distance information Z are used as sample inputs of the deep learning neural network. The sample inputs can be collected during actual vehicle driving, and a corresponding lane departure state is given for each sample input. The lane departure state is also collected during actual vehicle driving. The sample input and the corresponding lane departure state are collected at the same time. The lane departure state is the output of the deep learning neural network. The deep learning neural network can adopt an existing deep learning neural network basic model. Through training and learning, the deep learning neural network required for this embodiment can be obtained. The deep learning neural network can determine the current lane departure state based on the position relationship information X, vehicle speed information Y, and distance information Z.

[0083] The position relationship information includes at least one of the angle X1 between the front of the vehicle and the lane line, the rate of change X2 of the angle between the front of the vehicle and the lane line, and the distance X3 between the wheel and the lane line;

[0084] The lane departure state includes a deviation direction and a corresponding deviation value. The deviation direction includes left deviation, right deviation, and no deviation. The deviation value is used to represent the degree of lane departure.

[0085] In some specific examples, preferably, the position relationship information includes the angle X1 between the front of the vehicle and the lane line, the rate of change X2 of the angle between the front of the vehicle and the lane line, and the distance X3 between the wheel and the lane line;

[0086] The step S1 specifically includes:

[0087] Calculating a first deviation value based on a comparison result of X1 and a preset angle threshold and a first weight coefficient; in this example, the first weight coefficient is preferably 50%;

[0088] Calculating a second deviation value based on the comparison result of X2 and the preset change rate threshold and a second weight coefficient; in this example, the second weight coefficient is preferably 50%;

[0089] Calculating a third deviation value based on the comparison result of X3 and the preset vehicle speed threshold and a third weight coefficient; in this example, the third weight coefficient is preferably 20%;

[0090] Calculate a fourth deviation value based on the comparison result of Y and the preset wheelbase threshold and a fourth weight coefficient; in this example, the fourth weight coefficient is preferably 20%;

[0091] Calculating a fifth deviation value based on the comparison result of Z and the preset vehicle distance threshold and a fifth weight coefficient; in this example, the fifth weight coefficient is preferably 20%;

[0092] Calculating a current deviation value of the vehicle from the lane line based on the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, and the fifth deviation value;

[0093] Furthermore, if the current deviation value of the vehicle from the lane line is greater than 0, the deviation direction is determined according to X1.

[0094] In some specific examples, the method specifically includes:

[0095] When the lane departure state is no deviation, that is, the current deviation value of the vehicle from the lane line is 0, the lane departure detection component generates a first deviation indication instruction and sends it to the first display screen and the second display screen respectively;

[0096] In response to receiving the first deviation instruction, the first display screen sets its own state to a perspective state according to the first deviation instruction;

[0097] In response to receiving the first deviation instruction, the second display screen sets its own state to a perspective state according to the first deviation instruction;

[0098] The first display screen and the second display screen are both flexible display screens with a perspective function. The first display screen is embedded in the left A-pillar, and the second display screen is located on the right A-pillar.

[0099] In some specific examples, the method specifically includes:

[0100] When the lane departure state is left deviation, the lane departure detection component generates a second deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the second deviation indication instruction to the first display screen;

[0101] In response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line.

[0102] Specifically, in this example, different lane departure warning information corresponding to different deviation values ​​is pre-set.

[0103] Specifically, in response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including:

[0104] The first display screen compares the current vehicle deviation from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current vehicle deviation from the lane line falls, and displays lane departure warning information corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning information;

[0105] The lane departure warning information includes at least warning information, overhead view information of the vehicle, and distance information of the vehicle from the lane.

[0106] In some specific examples, the method specifically includes:

[0107] When the lane departure state is rightward deviation, the lane departure detection component generates a third deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the third deviation indication instruction to the second display screen;

[0108] In response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line.

[0109] Specifically, in this example, different lane departure warning information corresponding to different deviation values ​​is pre-set.

[0110] Specifically, in response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including:

[0111] The second display screen compares the current deviation value of the vehicle from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current deviation value of the vehicle from the lane line falls, and displays a lane departure warning message corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning message;

[0112] The lane departure warning information includes at least warning information, overhead view information of the vehicle, and distance information of the vehicle from the lane.

[0113] For example, the deviation value is preferably represented by 0-100%, and the higher the deviation value, the higher the degree of deviation.

[0114] When the deviation value is within the first deviation value range, it is defined as a serious deviation, and the first display screen or the second display screen on the left or right A-pillar corresponding to the deviation direction will flash red, and the headlights will be activated.

[0115] When the deviation value is within the second deviation value range, it is defined as a general deviation. The general deviation is as follows: Figure 5 As shown, a top view of the car is projected on the first display screen or the second display screen on the left or right A-pillar corresponding to the deviation direction, so that the driver can intuitively understand the deviation angle;

[0116] When the deviation value is within the third deviation value range, it is defined as a slight deviation. Figure 6 As shown, the distance diagram of the car from the lane is projected on the first display screen or the second display screen on the left or right A-pillar corresponding to the deviation direction, so that the driver can intuitively understand the deviation angle;

[0117] Among them, when the deviation value is 0, it is defined as no deviation, and the first display screen and the second display screen on the left and right A-pillars are set to a perspective state to avoid the A-pillar blind spot.

[0118] It should be noted that the method of this embodiment corresponds to the system of the above embodiment. Therefore, the contents not described in detail in the method of this embodiment can be obtained by referring to the system of the above embodiment and will not be repeated here.

[0119] While various embodiments of the present invention have been described above, the above descriptions are intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A lane departure warning control system, characterized in that: include: A lane departure detection component is used to detect the current lane departure state of the vehicle during driving and generate a corresponding current lane departure instruction according to the current lane departure state; The current deviation instruction includes a left deviation instruction and a right deviation instruction; a first display screen provided on the left A-pillar of the vehicle, configured to display corresponding lane departure warning information according to the left departure indication instruction in response to receiving the left departure indication instruction; and a second display screen on the right A-pillar of the vehicle is provided, for displaying corresponding lane departure warning information according to the right deviation instruction in response to receiving the right deviation instruction; The lane departure detection component is specifically configured to: obtain positional relationship information X between the vehicle and the lane line, vehicle speed information Y, and distance information Z between the vehicle and the vehicle behind during the current vehicle driving process, and determine the current lane departure state based on the positional relationship information X, vehicle speed information Y, and distance information Z; the positional relationship information includes the angle X1 between the vehicle's front end and the lane line, the rate of change X2 of the angle between the vehicle's front end and the lane line, and the distance X3 between the vehicle's wheels and the lane line; The determining of the current lane departure state according to the position relationship information X, the vehicle speed information Y, and the distance information Z includes: A first deviation value is calculated based on a comparison result between X1 and a preset angle threshold and a first weight coefficient; a second deviation value is calculated based on a comparison result between X2 and a preset rate of change threshold and a second weight coefficient; a third deviation value is calculated based on a comparison result between X3 and a preset vehicle speed threshold and a third weight coefficient; a fourth deviation value is calculated based on a comparison result between Y and a preset wheelbase threshold and a fourth weight coefficient; a fifth deviation value is calculated based on a comparison result between Z and a preset vehicle distance threshold and a fifth weight coefficient; a deviation value of the current vehicle from the lane line is calculated based on the first deviation value, the second deviation value, the third deviation value, the fourth deviation value and the fifth deviation value; and if the current vehicle deviation value from the lane line is greater than 0, a deviation direction is determined based on X1.

2. The lane departure warning control system according to claim 1, characterized in that: The lane departure state includes a departure direction and a corresponding departure value. The departure direction includes left departure, right departure, and no departure. The departure value is used to represent the degree of lane departure.

3. The lane departure warning control system according to claim 2, characterized in that: The first display screen and the second display screen are both flexible display screens with a see-through function. The first display screen is embedded in the left A-pillar, and the second display screen is located on the right A-pillar.

4. The lane departure warning control system according to claim 3, characterized in that: When the lane departure state is no deviation, the first display screen and the second display screen are in a perspective state so that the right A-pillar is perspective and the left and right A-pillars are perspective; When the lane departure state is leftward deviation, the first display screen displays lane departure warning information corresponding to the deviation value, and the second display screen is in a perspective state so as to make the right A-pillar perspective; When the lane departure state is rightward deviation, the second display screen displays lane departure warning information corresponding to the deviation value, and the first display screen is in a perspective state to make the left A-pillar perspective.

5. A lane departure warning control method, characterized in that: The method is implemented based on the lane departure warning control system according to claim 1, and the method includes: The lane departure detection component detects the current lane departure state of the vehicle during driving and generates a corresponding current departure instruction according to the current lane departure state; the current departure instruction includes a left departure instruction and a right departure instruction; In response to receiving the left departure instruction, the first display screen displays corresponding lane departure warning information according to the left departure instruction; The second display screen displays corresponding lane departure warning information according to the right deviation instruction in response to receiving the right deviation instruction; The lane departure detection component detects the current lane departure state of the vehicle during driving, including: Obtaining positional relationship information X between the vehicle and the lane line, vehicle speed information Y, and distance information Z between the vehicle and the vehicle behind it during the current vehicle's travel, and determining the current lane departure state based on the positional relationship information X, vehicle speed information Y, and distance information Z; the positional relationship information includes the angle X1 between the vehicle's front end and the lane line, the rate of change X2 of the angle between the vehicle's front end and the lane line, and the distance X3 between the vehicle's wheels and the lane line; The determining of the current lane departure state according to the position relationship information X, the vehicle speed information Y, and the distance information Z specifically includes: A first deviation value is calculated based on a comparison result between X1 and a preset angle threshold and a first weight coefficient; a second deviation value is calculated based on a comparison result between X2 and a preset rate of change threshold and a second weight coefficient; a third deviation value is calculated based on a comparison result between X3 and a preset vehicle speed threshold and a third weight coefficient; a fourth deviation value is calculated based on a comparison result between Y and a preset wheelbase threshold and a fourth weight coefficient; a fifth deviation value is calculated based on a comparison result between Z and a preset vehicle distance threshold and a fifth weight coefficient; a deviation value of the current vehicle from the lane line is calculated based on the first deviation value, the second deviation value, the third deviation value, the fourth deviation value and the fifth deviation value; and if the current vehicle deviation value from the lane line is greater than 0, a deviation direction is determined based on X1.

6. The lane departure warning control method according to claim 5, characterized in that: The lane departure state includes a departure direction and a corresponding departure value. The departure direction includes left departure, right departure, and no departure. The departure value is used to represent the degree of lane departure.

7. The lane departure warning control method according to claim 6, characterized in that: The method specifically includes: When the lane departure state is no deviation, the lane departure detection component generates a first deviation indication instruction and sends it to the first display screen and the second display screen respectively; In response to receiving the first deviation instruction, the first display screen sets its own state to a perspective state according to the first deviation instruction; In response to receiving the first deviation instruction, the second display screen sets its own state to a perspective state according to the first deviation instruction; The first display screen and the second display screen are both flexible display screens with a perspective function. The first display screen is embedded in the left A-pillar, and the second display screen is located on the right A-pillar.

8. The lane departure warning control method according to claim 6, characterized in that: The method specifically includes: When the lane departure state is left deviation, the lane departure detection component generates a second deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the second deviation indication instruction to the first display screen; In response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line; When the lane departure state is rightward deviation, the lane departure detection component generates a third deviation indication instruction according to the current deviation value of the vehicle from the lane line and sends the third deviation indication instruction to the second display screen; In response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line.

9. The lane departure warning control method according to claim 8, characterized in that: In response to receiving the second deviation indication instruction, the first display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including: The first display screen compares the current vehicle deviation from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current vehicle deviation from the lane line falls, and displays lane departure warning information corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning information; In response to receiving the third deviation indication instruction, the second display screen displays lane departure warning information corresponding to the current deviation value of the vehicle from the lane line, specifically including: The second display screen compares the current deviation value of the vehicle from the lane line with a plurality of preset deviation value ranges, determines the deviation value range within which the current deviation value of the vehicle from the lane line falls, and displays a lane departure warning message corresponding to the deviation value range; wherein each preset deviation value range is pre-set with a corresponding lane departure warning message; The lane departure warning information includes at least warning information, overhead view information of the vehicle, and distance information of the vehicle from the lane.

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