Lane recognition device and control method thereof

Abstract

A lane recognition device and method are provided, the lane recognition device comprising: a sensor, arranged at a vehicle to detect a left line and a right line of a current lane, and respectively sensing a left line distance from the middle of the vehicle to the left line and a right line distance from the middle of the vehicle to the right line; a controller, configured to set the sum of the left line distance and the right line distance as a lane width, correct the left line distance or the right line distance based on a previously set lane width when the sensor detects the left line and the right line, and determine the driving state of the vehicle as any one of a normal departure driving state, a left deviation driving state, a right deviation driving state, or a lane change state based on the left line and the right line of the current lane when the sensor detects one of the left line or the right line.

Description

Technical Field

[0001] The following description relates to preventing false warnings from BSD and LCA systems by recognizing a lane using a sensor provided at a vehicle and using the recognized lane for a warning system when the vehicle makes a lane change. Background Art

[0002] As advanced driver assistance system (ADAS) technology is introduced for driver convenience, it is very important to accurately recognize information about the lane in which a vehicle is traveling.

[0003] According to conventional blind spot detection (BSD) and lane change assist (LCA) systems, when a moving subject vehicle changes lanes, a flashing warning light at a side view mirror warns the driver of the subject vehicle when a following vehicle is in a blind spot and therefore not visible in the side view mirror of the subject vehicle.

[0004] These systems help to change lanes safely, but can sometimes cause driver fatigue when the system is operating, even when no warning is needed.

[0005] The foregoing content is only used to help understand the background of the present invention and is not intended to mean that the present invention falls within the scope of the relevant technologies known to those skilled in the art. Summary of the invention

[0006] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be an aid in determining the scope of the claimed subject matter.

[0007] In one general aspect, a lane recognition device is provided, comprising: a sensor, disposed at a subject vehicle, and configured to detect a left line and a right line of a current lane, sense a first left line distance from the middle of the subject vehicle to the left line and a first right line distance from the middle of the subject vehicle to the right line, and send the sensing result to a controller; a radar, disposed at the subject vehicle, and configured to collect following vehicle position information of a following vehicle, and send the following vehicle position information to the controller; and a controller, configured to set the sum of the first left line distance and the first right line distance as the lane width in response to the sensor detecting both the left line and the right line, and to set the lane width in response to the sensor detecting the left line or the right line. One, correcting a first left line distance or a first right line distance based on a previously set lane width, determining a second left line distance based on the corrected first left line distance or the first left line distance, the second left line distance being the distance between the center of the subject vehicle and the left line of the left lane of the current lane, determining a second right line distance based on the corrected first right line distance or the first right line distance, the second right line distance being the distance between the center of the subject vehicle and the right line of the right lane of the current lane, and determining a motion state of the subject vehicle as any one of a normal driving state, a left deviation driving state, a right deviation driving state, or a lane change state based on information related to the left line of the current lane and the right line of the current lane.

[0008] The controller can be configured to: in response to the left line of the current lane not being detected, correct the first left line distance using the difference between the previously set lane width and the first right line distance; or in response to the right line of the current lane not being detected, correct the first right line distance using the difference between the previously set lane width and the first left line distance.

[0009] The controller can be configured to: in response to detecting both the left line and the right line of the current lane, determine that the motion state of the subject vehicle is a normal driving state; in response to the first left line distance being less than a first threshold and the first right line distance being greater than a second threshold, determine that the motion state of the subject vehicle is a left deviation driving state; in response to the first right line distance being less than the first threshold and the first left line distance being greater than the second threshold, determine that the driving state of the subject vehicle is a right deviation driving state; or in response to the time period in which the left line and the right line of the current lane are not identified being greater than a third threshold, determine that the motion state of the subject vehicle is a lane change state.

[0010] The controller can be configured to: set a following vehicle warning area based on the first left line distance and the first right line distance; determine that a warning condition is satisfied in response to the following vehicle being located in the following vehicle warning area; and provide a warning to the following vehicle in response to the warning condition being satisfied, and be prepared for a collision with the following vehicle in response to the subject vehicle being in a lane change state.

[0011] The controller may be configured to not provide a warning to the following vehicle in response to the subject vehicle being in a normal driving state, a left deviation driving state, or a right deviation driving state, and the following vehicle being located within a first left line distance or a first right line distance and traveling in a current lane.

[0012] The controller may be configured to provide no warning to the following vehicle in response to the subject vehicle being in a normal driving state, a left deviation driving state, or a right deviation driving state, and the following vehicle exceeds a second left line distance or a second right line distance.

[0013] The controller may be configured to, in response to recognizing that the subject vehicle is in a lane change state and moving away from the following vehicle, not provide a warning to the following vehicle.

[0014] In another general aspect, a lane recognition method is provided, the method comprising: detecting a left line and a right line of a current lane by a sensor, sensing a first left line distance from the middle of a subject vehicle to the left line of the current lane and a first right line distance from the middle of the current lane to the right line of the current lane, and sending the sensing results to a controller; collecting a following vehicle position information of a following vehicle by a radar, and sending the following vehicle position information to the controller; at the controller, in response to the sensor detecting both the left line and the right line of the current lane, setting the sum of the first left line distance and the first right line distance to the lane width; in response to the sensor detecting the left line or the right line of the current lane one of the right lines, correcting a first left line distance or a first right line distance based on a previously set lane width; determining a second left line distance based on the corrected first left line distance or the first left line distance, the second left line distance being the distance between the middle of the subject vehicle and the left line of the left lane of the current lane; determining a second right line distance, the second right line distance being the distance between the middle of the subject vehicle and the right line of the right lane of the current lane; and determining the motion state of the subject vehicle as any one of a normal driving state, a left deviation driving state, a right deviation driving state or a lane change state based on information related to the left line of the current lane and the right line of the current lane.

[0015] Correction of the first left line distance or the first right line distance may include: in response to the left line of the current lane not being detected, correcting the first left line distance using the difference between the previously set lane width and the first right line distance; or in response to the right line of the current lane not being detected, correcting the first right line distance using the difference between the previously set lane width and the first left line distance.

[0016] Determination of the motion state of the subject vehicle may include: in response to detecting both the left line and the right line of the current lane, determining that the motion state of the subject vehicle is a normal driving state; in response to the first left line distance being less than a first threshold and the first right line distance being greater than a second threshold, determining that the motion state of the subject vehicle is a left-departure driving state; in response to the first right line distance being less than the first threshold and the first left line distance being greater than the second threshold, determining that the motion state of the subject vehicle is a right-departure driving state; or in response to the time period in which the left line and the right line of the current lane are not identified being greater than a third threshold, determining that the motion state of the subject vehicle is a lane change state.

[0017] The method may include: setting, by a controller, a following vehicle warning zone based on a first left line distance and a first right line distance; determining that a warning condition is satisfied in response to a following vehicle being located in the following vehicle warning zone; and providing a warning to the following vehicle in response to the warning condition being satisfied, and preparing for a collision with the following vehicle in response to the subject vehicle being in a lane change state.

[0018] The method may include: in response to the subject vehicle being in a normal driving state, a left-deviation driving state, or a right-deviation driving state, and the following vehicle being located within a first left-line distance or a first right-line distance and traveling in a current lane, not providing a warning to the following vehicle.

[0019] The method may include: in response to the subject vehicle being in a normal driving state, a left deviation driving state, or a right deviation driving state, and the following vehicle exceeds a second left line distance or a second right line distance, not issuing a warning to the following vehicle.

[0020] The method may include not providing a warning to the following vehicle in response to recognizing that the subject vehicle is in a lane change state and moving away from the following vehicle.

[0021] Other features and aspects will become apparent from the following detailed description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and other advantages of the present invention will be more clearly understood from the following detailed description given in conjunction with the accompanying drawings, in which:

[0023] Figure 1 and Figure 2 is a diagram illustrating the problems in the prior art;

[0024] Figure 3 and Figure 4 is a diagram showing a lane recognition system according to the present invention;

[0025] Figure 5 is a diagram showing a situation where a following vehicle needs to be warned;

[0026] Figures 6 to 8 is a diagram showing a situation where there is no need to warn the following vehicle; and

[0027] Fig. 9 is a flow chart illustrating a method of controlling a lane recognition system. Specific embodiments

[0028] The following detailed description is provided to help the reader obtain a comprehensive understanding of the methods, devices and / or systems described herein. However, after understanding the disclosure of the present application, various changes, modifications and equivalents of the methods, devices and / or systems described herein will be apparent. For example, the order of operations described herein is merely an example and is not limited to those order of operations set forth herein, but may be significantly changed after understanding the disclosure of the present application, except for operations that must be performed in a certain order. In addition, for greater clarity and brevity, the description of known features may be omitted.

[0029] The features described herein may be implemented in different forms and are not to be construed as being limited to the examples described herein. Rather, the examples described herein are provided merely to illustrate some of the many possible ways to implement the methods, devices and / or systems described herein, which will be apparent after understanding the disclosure of the present application.

[0030] The terms used herein are for the purpose of describing specific examples only and are not intended to limit the examples. The singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "include", "have" and / or "comprise" when used herein indicate the presence of the stated features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0031] When describing an example with reference to the accompanying drawings, the same reference numerals represent the same constituent elements, and repeated descriptions related thereto will be omitted. In the description of the example, when it is considered that a detailed description of a well-known related structure or function will lead to an obscure interpretation of the present disclosure, such description will be omitted.

[0032] In addition, in the description of components, when describing the components of the present disclosure, terms such as first, second, A, B, (a), (b), etc. may be used herein. These terms are only used for the purpose of distinguishing one constituent element from another constituent element, and the nature, sequence or order of the constituent elements is not limited by these terms. When a constituent element is described as being "connected", "coupled" or "attached" to another constituent element, it should be understood that a constituent element can be directly connected or attached to another constituent element, and intermediate constituent elements can also be "connected", "coupled" or "attached" to the constituent element.

[0033] In this specification, warning the following vehicle means warning the driver of the subject vehicle and the driver of the following vehicle, and not warning means not warning the driver of the subject vehicle and the driver of the following vehicle.

[0034] refer to Figure 1 When the lane is wide, conventional BSD and LCA systems identify a following vehicle traveling in the same lane as a risk factor and issue a false warning to the driver of the subject vehicle. When the lane is narrow, conventional systems identify a following vehicle traveling in a lane next to the lane next to the current lane as a risk factor and issue a false warning to the driver of the subject vehicle, which makes the driver feel tired.

[0035] To prevent this, it is necessary to prevent the BSD and LCA systems from warning the driver when the following vehicle is not identified as a risk factor. To this end, it is necessary to support a system that can accurately identify lanes.

[0036] refer to Figure 2 ,The conventional lane recognition system is limited in the lane recognition range, so when the vehicle is traveling close to one line of the lane, it may not be able to recognize the other lines of the lane. Figure 2 As shown, when the vehicle is traveling close to the left side, the sensor of the vehicle cannot recognize the right line of the lane and determines that the distance of the right line is greater than the maximum distance. Therefore, lane recognition cannot be performed accurately and an error occurs.

[0037] Therefore, it is necessary to develop a lane recognition system that can accurately identify lanes. Figure 3 The present invention is described.

[0038] According to the present invention, a lane recognition system is provided, comprising: a sensor 100, which is arranged at a subject vehicle and is configured to: detect a left line and a right line of a current lane, sense a first left line distance L1 from the middle of the subject vehicle to the left line and a first right line distance R1 from the middle of the subject vehicle to the right line, and send the sensing result to a controller; a radar (not shown), which is arranged at the subject vehicle and is configured to collect the following vehicle position information of the following vehicle and send the following vehicle position information to the controller; and a controller (not shown), which is configured to: when the sensor detects both the left line and the right line, set the sum of the first left line distance L1 and the first right line distance R1 as the lane width W; when the sensor detects both the left line and the right line, set the sum of the first left line distance L1 and the first right line distance R1 as the lane width W. When the sensor detects a left line or a right line, the previously set lane width W is used to correct the first left line distance L1 or the first right line distance R1; the corrected or uncorrected first left line distance is used to set the second left line distance L2, which is the distance between the subject vehicle and the left line of the left lane of the current lane; the corrected or uncorrected first right line distance is used to set the second right line distance R2, which is the distance between the subject vehicle and the right line of the right lane of the current lane; and based on information related to the left line of the current lane and the right line of the current lane, the driving state of the subject vehicle is identified as a normal driving state, a left deviation driving state, a right deviation driving state, or a lane change state.

[0039] Specifically, the sensor 100 senses the distance from the subject vehicle to the left line as the first left line distance L1, and senses the distance from the subject vehicle to the right line as the first right line distance R1. When the sensor senses both the left line and the right line, the sum of the first left line distance L1 and the first right line distance R1 is set as the lane width.

[0040] When the sensor sets the lane width, the controller sets the sum of the lane width and the first left line distance L1 as the second left line distance L2, and sets the sum of the lane width and the first right line distance R1 as the second right line distance R2.

[0041] When the sensor 100 recognizes the left line or the right line due to the deviation of the subject vehicle, the controller corrects and calculates the first left line distance or the first right line distance by using the previously used lane width W and the first right line distance R1 or the first left line distance L1. Figure 4 , when only the right line is detected but not the left line, the controller corrects the first left line distance using the difference between the previously set lane width and the first right line distance. When only the left line is detected but not the right line, the controller corrects the first right line distance using the difference between the previously set lane width and the first left line distance.

[0042] In addition, when the left line is not recognized, the second left line distance is set by adding the corrected first left line distance L1' to the previously set lane width, and the second right line distance is set by adding the first right line distance to the previously set lane width. When the right line is not recognized, the second left line distance is set by adding the first left line distance to the previously set lane width, and the second right line distance is set by adding the corrected first right line distance R1' to the previously set lane width.

[0043] At the same time, the controller can identify that the motion state of the subject vehicle is in a normal driving state, a left-departure driving state, a right-departure driving state, or a lane change state. Specifically, when both the left line and the right line are detected, the motion state of the subject vehicle is identified as a normal driving state. The normal driving state is a state in which both the left line and the right line are detected and no lane change is performed. When the first left line distance is less than the first threshold value and the first right line distance is greater than the second threshold value, the motion state of the subject vehicle is identified as a left-departure driving state. When the first right line distance is less than the first threshold value and the first left line distance is greater than the second threshold value, the motion state of the subject vehicle is identified as a right-departure driving state. In addition, when the time period in which the left line and the right line are not identified is greater than the third threshold value, the motion state of the subject vehicle is identified as a lane change state.

[0044] Different first thresholds, second thresholds and third thresholds can be set according to the situation. Specifically, the first threshold, the second threshold and the third threshold are variable values ​​that can change according to road conditions such as rain, snow, fog, and lane conditions.

[0045] At the same time, the controller sets a following vehicle warning area based on the first left line distance and the first right line distance. When the following vehicle is located in the following vehicle warning area, it is considered that the warning condition is met. When the subject vehicle is in a lane change state, a warning is issued to the following vehicle and a collision with the following vehicle is prepared.

[0046] Specifically, refer to Figure 5 , a following vehicle warning area is set based on the first left line distance and the first right line distance, and the following vehicle warning area can be variously set according to road conditions such as rain, snow, fog, and lane conditions. When the vehicle is in the following vehicle warning area, the controller considers that the warning condition is basically satisfied, and controls the subject vehicle to send a warning signal to the following vehicle to alert attention. The warning signal can adopt a method of quickly turning on and off the taillights. In addition, the subject vehicle is in a lane change state, and a collision with the following vehicle is fully anticipated. Therefore, the subject vehicle can be controlled to perform collision preparations, for example, preparing to tighten the seat belts of all seats of the subject vehicle including the driver's seat.

[0047] In addition, when the controller recognizes that the main vehicle is in a normal driving state, a left-deviation driving state, or a right-deviation driving state, and the following vehicle is located within the first left line distance or the first right line distance and is traveling in the same lane as the main vehicle, no warning is issued to the following vehicle.

[0048] Specifically, refer to Figure 6 , although the subject vehicle is in a normal driving state and the following vehicle is located in the following vehicle warning area, it is recognized that the following vehicle is located within the first left line distance and is traveling in the same lane as the subject vehicle. Therefore, no warning signal is sent to the following vehicle. In the related art, when the lane is wide and the following vehicle is traveling close to the side, the following vehicle is located in the following vehicle warning area, and therefore a warning is issued to the driver of the subject vehicle. However, in the case of using the system according to the present invention, it is recognized that the following vehicle is at the first left line distance and is traveling in the same lane as the subject vehicle, and the subject vehicle is in a normal driving state, so no warning is issued to the driver of the following vehicle and the driver of the subject vehicle.

[0049] In addition, when the controller recognizes that the subject vehicle is in a normal driving state, a left deviation driving state, or a right deviation driving state and the following vehicle exceeds the second left line distance or the second right line distance, no warning is issued to the following vehicle even though the following vehicle meets the warning conditions.

[0050] Specifically, refer to Figure 7 , the subject vehicle is in a normal driving state and the following vehicle is located in the following vehicle warning area, but it is identified that the following vehicle exceeds the second left line distance. Therefore, no warning is issued to the following vehicle. That is, in the related art, when the subject vehicle is traveling on a road with narrow lanes, a following vehicle in a lane next to the lane next to the current lane is mistakenly identified, and a warning signal is sent to the driver of the subject vehicle. However, in the case of using the system according to the present invention, a vehicle in a lane next to the lane next to the current lane can be identified. In this case, no warning is issued to the driver of the following vehicle and the driver of the subject vehicle.

[0051] Meanwhile, although the following vehicle satisfies the warning condition and the subject vehicle is in a lane change state, when the controller recognizes that the subject vehicle is changing lanes to drive away from the following vehicle, no warning is issued to the following vehicle.

[0052] Specifically, refer to Figure 8 , the subject vehicle is in a lane change state and the following vehicle is in the following vehicle warning zone, but the subject vehicle moves away from the following vehicle when changing lanes. In this case, no warning is issued to the following vehicle.

[0053] More specifically, when the subject vehicle is about to change lanes to the right lane, it enters the right deviation driving state, and then enters the lane change state. Therefore, when the motion state changes from the right deviation driving state to the lane change state, the controller recognizes that the subject vehicle changes lanes to the right lane. Even if the following vehicle on the left is in the following vehicle warning area, the controller may not issue a warning to the following vehicle on the left. This can also be applied to the case where the subject vehicle changes lanes to the left lane and there is a following vehicle on the right.

[0054] refer to Fig. 9 , provides a method for controlling the lane recognition system according to aspect 1, the method comprising: in step S100, a sensor detects the left line and the right line of the current lane, senses a first left line distance from the middle of the subject vehicle to the left line, and a first right line distance from the middle of the current lane to the right line, and sends the sensing result to a controller; in step S200, a radar collects the following vehicle position information of the following vehicle, and sends the following vehicle position information to the controller; in step S300, when the sensor detects both the left line and the right line of the current lane, the sum of the first left line distance and the first right line distance is set as the lane width; in step S400, when the sensor detects the left line or the right line , by using the previously set lane width to correct the first left line distance or the first right line distance; in step S500, using the corrected or uncorrected first left line distance to set the second left line distance, the second left line distance is the distance between the subject vehicle and the left line of the left lane of the current lane, and using the corrected or uncorrected first right line distance to set the second right line distance, the second right line distance is the distance between the subject vehicle and the right line of the right lane of the current lane; and in step S600, identifying the movement state of the subject vehicle as a normal driving state, a left deviation driving state, a right deviation driving state or a lane change state based on information related to the left line of the current lane and the right line of the current lane.

[0055] The method may also include: in step S700, the controller sets a following vehicle warning area based on the first left line distance and the first right line distance, considers that a warning condition is met when the following vehicle is located in the following vehicle warning area, and issues a warning to the following vehicle and prepares for a collision with the following vehicle when the subject vehicle is in a lane change state.

[0056] According to the lane recognition system and control method thereof, the failure of the BSD and LCA systems and their false warnings can be prevented, thereby helping the driver not to feel tired. In addition, when the main vehicle changes lanes, a warning signal is sent to the following vehicle to remind it to pay attention, thereby reducing accidents that may occur when changing lanes.

[0057] As mentioned above, the lane recognition system can prevent malfunctions and false warnings of the BSD and LCA systems, thereby helping drivers not to feel fatigued. In addition, when the main vehicle changes lanes, a warning signal is sent to the following vehicle to alert it, thereby reducing accidents that may occur when changing lanes.

[0058] As described above, the lane recognition system can reduce false warnings from the BSD and LCA systems, and can send a warning signal to the following vehicle when it is detected that a collision with the following vehicle may occur if a lane change is performed.

[0059] The apparatus, equipment, unit, module and assembly described herein are implemented by hardware components. Examples of hardware components that can be used to perform the operations described in this application include controllers, sensors, generators, drivers, memories, comparators, arithmetic logic units, adders, subtractors, multipliers, dividers, integrators, and any other electronic components configured to perform the operations described in this application, where appropriate. In other examples, one or more hardware components for performing the operations described in this application are implemented by computing hardware (e.g., by one or more processors or computers). A processor or computer can be implemented by one or more processing elements (e.g., logic gate arrays, controllers and arithmetic logic units, digital signal processors, microcomputers, programmable logic controllers, field programmable gate arrays, programmable logic arrays, microprocessors, or any other device or combination of devices configured to respond and execute instructions in a defined manner to achieve the desired result). In one example, a processor or computer includes (or is connected to) one or more memories storing instructions or software executed by a processor or computer. The hardware components implemented by a processor or computer can execute instructions or software, e.g., an operating system (OS) and one or more software applications running on the OS, to perform the operations described in this application. Hardware components can also access, manipulate, process, create and store data in response to the execution of instructions or software. For the sake of brevity, the singular term "processor" or "computer" can be used in the description of the examples described in this application, but multiple processors or computers can be used in other examples, or processors or computers can include multiple processing elements, or multiple types of processing elements, or both. For example, a single hardware component or two or more hardware components can be implemented by a single processor, or two or more processors, or a processor and a controller. One or more hardware components can be implemented by one or more processors, or a processor and a controller, and one or more other hardware components can be implemented by one or more other processors or another processor and another controller. One or more processors or a processor and a controller can implement a single hardware component, or two or more hardware components. The hardware components can have any one or more of different processing configurations, examples of which include a single processor, independent processors, parallel processors, single instruction single data (SISD) multiprocessing, single instruction multiple data (SIMD) multiprocessing, multiple instruction single data (MISD) multiprocessing, multiple instruction multiple data (MIMD) multiprocessing, a controller and an arithmetic logic unit (ALU), a DSP, a microcomputer, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a programmable logic unit (PLU), a central processing unit (CPU), a graphics processing unit (GPU), a neural processing unit (NPU), or any other device capable of responding to and executing instructions in a defined manner.

[0060] The software may include a computer program, a code, an instruction, or some combination thereof to independently or collectively instruct or configure a processing device to operate as desired. Software and data may be embodied permanently or temporarily in any type of machine, component, physical or virtual device, computer storage medium or device, or in a propagating signal wave capable of providing instructions or data to, or being interpreted by, a processing device. Software may also be distributed over a network-coupled computer system so that the software is stored and executed in a distributed manner. Software and data may be stored by one or more non-transitory computer-readable recording media.

[0061] The method for performing the operations described in the present application is performed by computing hardware, for example, by one or more processors or computers implemented as described above that execute instructions or software to perform the operations performed by these methods described in the present application. For example, a single operation or two or more operations can be performed by a single processor, or two or more processors, or a processor and a controller. One or more operations can be performed by one or more processors or a processor and a controller, and one or more other operations can be performed by one or more other processors or another processor and another controller. One or more processors or a processor and a controller can perform a single operation or two or more operations.

[0062] The instructions or software for controlling a processor or computer to implement the hardware components and perform the method as described above are written as a computer program, code segment, instruction, or any combination thereof, for individually or collectively instructing or configuring a processor or computer to operate as a machine or special-purpose computer to perform the operations performed by the hardware components and the above-mentioned methods. In one example, the instructions or software include machine code directly executed by a processor or computer, such as machine code generated by a compiler. In an example, the instructions or software include at least one of the following: an applet, a dynamic link library (DLL), middleware, firmware, a device driver, an application storing a lane recognition method. In another example, the instructions or software include high-level code executed by a processor or computer using an interpreter. An ordinary programmer in the art can easily write instructions or software based on the block diagrams and flow charts shown in the accompanying drawings and the corresponding descriptions in the specification, wherein algorithms for performing operations performed by hardware components and the methods described above are disclosed.

[0063] The instructions or software that control the processor or computer-implemented hardware components and perform the methods described above, as well as any associated data, data files, and data structures, are recorded, stored, or fixed in or on one or more non-transitory computer-readable storage media. Examples of non-transitory computer-readable storage media include read-only memory (ROM), random-access programmable read-only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), magnetic RAM (MRAM), spin-transfer torque (STT)-MRAM, static random access memory (SRAM), thyristor RAM (T-RAM), zero-capacitance RAM (Z-RAM), two-transistor RAM (TTRAM), conductive bridge RAM (CBRAM), ferroelectric RAM (FeRAM), phase-change RAM (PRAM), resistive RAM (RRAM), nanotube RRAM, polymer RAM (PoRAM), nano-floating gate memory (NFGM), holographic memory, molecular electronic storage device), insulator resistance change memory, dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROM, CD-R, CD+R, CD-RW, CD+RW, DVD-ROM, DVD-R, DVD+R, DVD-RW, DVD+RW, DVD-RAM, BD-ROM, BD-R, BD-R LTH, BD-RE, Blu-ray or optical disk storage device, hard disk drive (HDD), solid state drive (SSD), flash memory, card-type memory (such as, multimedia card or micro card (for example, secure digital (SD) or extreme digital (XD))), magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, and any other device configured as follows: store instructions or software and any associated data, data files and data structures in a non-temporary manner, and provide instructions or software and any associated data, data files and data structures to a processor or computer so that the processor or computer can execute the instructions. In an example, the instructions or software and any associated data, data files and data structures are distributed on a networked computer system so that one or more processors or computers store, access and execute the instructions and software and any associated data, data files and data structures in a distributed manner.

[0064] Although the present disclosure includes specific examples, it will be apparent after understanding the disclosure of the present application that various changes in form and detail may be made to these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein should be considered to be illustrative only and not for limiting purposes. The description of the features or aspects in each example is considered to be applicable to similar features or aspects in other examples. If the described techniques are performed in a different order and / or if the components in the described systems, architectures, devices, or circuits are combined in different ways and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Therefore, the scope of the present disclosure is not limited by the detailed description, but by the claims and their equivalents, and all changes within the scope of the claims and their equivalents are interpreted as being included in the present disclosure.

Claims

1. A lane recognition device, comprising: a sensor disposed at a subject vehicle and configured to: detect a left line and a right line of a current lane, sense a first left line distance from a middle of the subject vehicle to the left line and a first right line distance from a middle of the subject vehicle to the right line, and send a sensing result to a controller; a radar disposed at the subject vehicle and configured to collect the following vehicle position information of the following vehicle and to send the following vehicle position information to the controller; as well as The controller is configured to: In response to the sensor detecting both the left line and the right line, setting the sum of the first left line distance and the first right line distance as a lane width, in response to the sensor detecting one of the left line or the right line, correcting the first left line distance or the first right line distance based on a previously set lane width, determining a second left line distance based on the corrected first left line distance or the first left line distance, the second left line distance being the distance between the middle of the subject vehicle and the left line of the left lane of the current lane, determining a second right line distance based on the corrected first right line distance or the first right line distance, the second right line distance being the distance between the middle of the subject vehicle and the right line of the right lane of the current lane, and Based on information about the left line of the current lane and the right line of the current lane, determining the motion state of the subject vehicle as any one of a normal driving state, a left deviation driving state, a right deviation driving state, or a lane change state, Wherein, the controller is further configured as: Based on the first left line distance and the first right line distance, a following vehicle warning area is set, In response to the following vehicle being located in the following vehicle warning area, determining that a warning condition is satisfied, In response to the warning condition being satisfied, providing a warning to the following vehicle, and In response to the subject vehicle being in the normal driving state, the left deviation driving state, or the right deviation driving state, and the following vehicle exceeding the second left line distance or the second right line distance, no warning is provided to the following vehicle although the warning condition is satisfied.

2. The device according to claim 1, wherein: The controller is also configured to: In response to not detecting the left line of the current lane, correcting the first left line distance by a difference between the previously set lane width and the first right line distance, or In response to a right line of the current lane not being detected, the first right line distance is corrected by a difference between the previously set lane width and the first left line distance.

3. The device according to claim 1, wherein: The controller is also configured to: In response to detecting both the left line and the right line of the current lane, determining that the motion state of the subject vehicle is the normal driving state, In response to the first left line distance being less than a first threshold and the first right line distance being greater than a second threshold, determining that the motion state of the subject vehicle is the left deviation driving state, In response to the first right line distance being less than the first threshold value and the first left line distance being greater than the second threshold value, determining that the driving state of the subject vehicle is the right deviation driving state, or In response to a time period during which the left line and the right line of the current lane are not identified being greater than a third threshold, determining that the motion state of the subject vehicle is the lane change state.

4. The device according to claim 1, wherein: The controller is also configured to: In response to the subject vehicle being in the normal driving state, the left-deviation driving state, or the right-deviation driving state, and the following vehicle being located within the first left-line distance or the first right-line distance and traveling in the current lane, no warning is provided to the following vehicle.

5. The device according to claim 1, wherein: The controller is configured to: In response to recognizing that the subject vehicle is in the lane change state and moving away from the following vehicle, no warning is provided to the following vehicle.

6. A lane recognition method, the method comprising: Detecting the left line and the right line of the current lane by a sensor, sensing a first left line distance from the middle of the subject vehicle to the left line of the current lane and a first right line distance from the middle of the current lane to the right line of the current lane, and sending the sensing results to a controller; collecting the following vehicle position information of the following vehicle by the radar, and sending the following vehicle position information to the controller; At the controller, in response to the sensor detecting both a left line and a right line of the current lane, setting a sum of the first left line distance and the first right line distance as a lane width; In response to the sensor detecting one of a left line or a right line of the current lane, correcting the first left line distance or the first right line distance based on a previously set lane width; determining a second left line distance based on the corrected first left line distance or the first left line distance, the second left line distance being the distance between the middle of the subject vehicle and the left line of the left lane of the current lane; determining a second right line distance, the second right line distance being the distance between the middle of the subject vehicle and the right line of the right lane of the current lane; as well as Based on information about the left line of the current lane and the right line of the current lane, determining the motion state of the subject vehicle as any one of a normal driving state, a left deviation driving state, a right deviation driving state, or a lane change state, Wherein, the method further comprises: The controller sets a following vehicle warning area based on the first left line distance and the first right line distance, In response to the following vehicle being located in the following vehicle warning area, determining that a warning condition is satisfied, In response to the warning condition being satisfied, providing a warning to the following vehicle, and In response to the subject vehicle being in the normal driving state, the left deviation driving state, or the right deviation driving state, and the following vehicle exceeding the second left line distance or the second right line distance, no warning is provided to the following vehicle although the warning condition is satisfied.

7. The method according to claim 6, wherein: Correcting the first left line distance or the first right line distance includes: In response to not detecting the left line of the current lane, correcting the first left line distance by a difference between the previously set lane width and the first right line distance, or In response to a right line of the current lane not being detected, the first right line distance is corrected by a difference between the previously set lane width and the first left line distance.

8. The method according to claim 6, wherein: Determining the motion state of the subject vehicle includes: In response to detecting both the left line and the right line of the current lane, determining that the motion state of the subject vehicle is the normal driving state, In response to the first left line distance being less than a first threshold and the first right line distance being greater than a second threshold, determining that the motion state of the subject vehicle is the left deviation driving state, In response to the first right line distance being less than the first threshold value and the first left line distance being greater than the second threshold value, determining that the motion state of the subject vehicle is the right deviation driving state, or In response to a time period during which the left line and the right line of the current lane are not identified being greater than a third threshold, determining that the motion state of the subject vehicle is the lane change state.

9. The method according to claim 6, further comprising: In response to the subject vehicle being in the normal driving state, the left-deviation driving state, or the right-deviation driving state, and the following vehicle being located within the first left-line distance or the first right-line distance and traveling in the current lane, no warning is provided to the following vehicle.

10. The method according to claim 6, further comprising: In response to recognizing that the subject vehicle is in the lane change state and moving away from the following vehicle, no warning is provided to the following vehicle.

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