Real-time lane detection dynamic verification system based on visual navigation unit

Abstract

The application discloses a real-time lane detection dynamic checking system based on a visual navigation unit and belongs to the technical field of intelligent transportation, which comprises a visual navigation unit, an information processing unit, a lane detection unit and a dynamic checking unit. In order to solve the problem that the vehicles running on the lane cannot be well avoided and lane changed, resulting in low vehicle driving safety, the real-time lane detection dynamic checking system based on the visual navigation unit perceives the vehicle surrounding environment information in real time, processes the vehicle surrounding environment information, determines the vehicle feasibility information, detects the vehicle running on the lane, determines the analysis and evaluation report, executes the vehicle driving strategy according to the analysis and evaluation report, dynamically checks the vehicle driving strategy, gives the determined guidance, and can well avoid and lane change the vehicle running on the lane, so that the vehicle driving safety can be improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a real-time lane detection and dynamic verification system based on a visual navigation unit. Background Technology

[0002] Intelligent vehicles are comprehensive systems that integrate environmental perception, planning and decision-making, and multi-level assisted driving functions. They add advanced sensors, controllers, actuators and other devices to ordinary vehicles. Through onboard environmental perception systems and information terminals, they can exchange information with people, vehicles and roads, enabling vehicles to have intelligent environmental perception capabilities. They can automatically analyze the safety and danger status of vehicle driving and enable the vehicle to reach the destination according to the human's wishes, ultimately achieving the goal of replacing human operation.

[0003] Chinese patent CN108010356B discloses a method, device, and vehicle for coordinating vehicle movement, relating to the field of road traffic technology. This patent generates driving guidance information and sends it to other vehicles when it determines that a vehicle is traveling in a green wave or similar area. It can provide green wave guidance in road sections without green wave facilities and improves green wave traffic efficiency in road sections with green wave facilities, embodying the concept of intelligent transportation. However, the aforementioned patent has the following drawbacks:

[0004] The inability to properly avoid or change lanes when vehicles are traveling in the lane results in poor driving safety. Summary of the Invention

[0005] The purpose of this invention is to provide a real-time lane detection and dynamic verification system based on a visual navigation unit, which can effectively avoid and change lanes for vehicles traveling in the lane, thereby improving vehicle driving safety and solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A real-time lane detection and dynamic verification system based on a vision navigation unit, including

[0008] The visual navigation unit is used to perceive the vehicle's surrounding environment in real time using sensors and visual cameras, providing important guidance for vehicle driving. The sensors include infrared sensors and ultrasonic sensors.

[0009] The information processing unit is used to process the acquired vehicle surrounding environment information, extract the vehicle surrounding environment information, quickly retrieve the vehicle surrounding environment information, filter out data information that is not useful for vehicle driving, retain data information that is useful for vehicle driving, classify the vehicle surrounding environment information that is useful for vehicle driving according to keywords, and calculate multiple sets of vehicle surrounding environment information based on the vehicle's own driving conditions to determine the vehicle's feasibility information.

[0010] The lane detection unit is used to detect the vehicles traveling in the current lane, detect the vehicles based on vehicle feasibility information, determine whether the vehicles in the current lane can pass normally, generate an analysis and evaluation report, and execute the corresponding vehicle driving strategy based on the analysis and evaluation report.

[0011] The dynamic verification unit is used to dynamically verify the vehicle driving strategy and provide definite guidance.

[0012] Furthermore, the visual navigation unit includes:

[0013] The startup module is used to activate the visual cameras in the front, rear, left, and right directions of the vehicle, perform a trial run on the visual cameras, and obtain the current operating parameter values ​​of the visual cameras. These operating parameter values ​​are obtained using the following formula:

[0014]

[0015] in, W Indicates the value of the running parameter; X This indicates the pixel resolution of the actual video image; X 0 indicates the preset pixel sharpness threshold; S Indicates the delay in actual video image transmission; S 0 represents the theoretical delay duration of video image transmission; λ Indicates the adjustment factor;

[0016] The comparison module is used to compare the operating parameter values ​​with preset parameter thresholds. When the operating parameter values ​​reach or exceed the preset parameter thresholds, the visual camera is determined to be operating well.

[0017] The position determination module is used to determine the position of the visual camera whose current operating parameters are lower than the preset parameter threshold when the operating parameter value is lower than the preset parameter threshold.

[0018] The first alarm module is used to issue an alarm and stop visual navigation operation if the visual camera is a front, left and / or right-facing visual camera.

[0019] The second alarm module is used to issue an alarm prompt if the visual camera is a front, left, and / or right-facing visual camera, but to continue visual navigation operation.

[0020] Furthermore, the information processing unit includes

[0021] The information extraction module is used to extract information from the acquired vehicle surrounding environment information, and to completely extract the vehicle surrounding environment information from the acquired vehicle surrounding environment information.

[0022] The information retrieval module is used to retrieve information about the vehicle's surrounding environment, filter out data that is not useful for vehicle operation, and retain data that is useful for vehicle operation.

[0023] The information classification module is used to classify the retrieved information about the vehicle's surrounding environment, and to classify the information about the vehicle's surrounding environment that is useful for driving according to keywords.

[0024] The information calculation module is used to perform information calculations on the classified vehicle surrounding environment information. Based on the vehicle's own driving conditions, it calculates multiple sets of vehicle surrounding environment information to determine the vehicle's feasibility information.

[0025] Furthermore, when using the lane detection unit to detect the vehicles traveling in the current lane, the following operations are performed:

[0026] Obtain vehicle feasibility information to determine whether there are obstacles in the current lane in which the vehicle is traveling;

[0027] Starting from the current vehicle's location and ending at a predetermined distance L in front of the current vehicle, obtain information about the vehicle's surrounding environment in the current area.

[0028] Based on the acquired vehicle surrounding environment information in the current area, and with reference to the vehicle surrounding environment information in the reference area at a set distance L, the acquired vehicle surrounding environment information in the current area is quickly detected.

[0029] If the vehicle's surrounding environment information in the current area is equal to the vehicle's surrounding environment information in the stored reference area, it means that there are no obstacles at a set distance L in front of the current vehicle, and the vehicle can drive normally in the current lane.

[0030] If the environmental information of the vehicle's surroundings in the current area is not equal to the environmental information of the vehicle's surroundings in the stored reference area, it indicates that there is an obstacle at a set distance L in front of the current vehicle, and the vehicle cannot drive normally in the current lane.

[0031] Furthermore, when a vehicle is unable to travel normally in its current lane, the following actions shall be taken:

[0032] Obtain information about the surrounding environment of vehicles in the adjacent lanes of the current lane, evaluate the information about the surrounding environment of vehicles in the adjacent lanes, generate a corresponding analysis and evaluation report, and execute the corresponding vehicle driving strategy based on the analysis and evaluation report.

[0033] The analysis and evaluation report includes

[0034] Analyze and evaluate the environmental information surrounding the vehicles in the left lane of the current lane, and determine the first analysis and evaluation report;

[0035] Analyze and evaluate the environmental information surrounding the vehicles in the right lane of the current lane to determine Analysis and Evaluation Report 2;

[0036] Based on the determined analysis and evaluation reports one and two, implement the corresponding vehicle driving strategies;

[0037] The vehicle driving strategy includes

[0038] Vehicles traveling in the current lane should immediately move into the left lane.

[0039] Vehicles traveling in the current lane should immediately move into the right lane.

[0040] Vehicles traveling in the current lane should slow down and move into the appropriate left or right lane, with a warning issued.

[0041] Furthermore, when implementing the corresponding vehicle driving strategy based on the analysis and evaluation report, the following operations are performed:

[0042] Analyze and evaluate the surrounding environment information of vehicles in the left lane of the current lane to determine whether the left lane of the current lane is a safe lane;

[0043] If the left lane is a safe lane, vehicles currently traveling in the lane will directly merge into the left lane.

[0044] If the left lane is not a safe lane, the environmental information around the vehicles in the right lane of the current lane is analyzed and evaluated to determine whether the right lane of the current lane is a safe lane.

[0045] If the right lane is a safe lane, vehicles traveling in the current lane may directly merge into the right lane.

[0046] If the right lane is not a safe lane, vehicles traveling in the current lane should slow down and move into the appropriate left or right lane, and a warning should be issued.

[0047] Furthermore, when analyzing and evaluating the environmental information surrounding vehicles in the left and right lanes of the current lane, the following operations are performed:

[0048] Obtain vehicle information in the left or right lane, and determine the distance between the vehicle in the left or right lane and the current vehicle in real time based on the speed of the vehicle in the left or right lane and the current vehicle's speed.

[0049] Based on the distance between the vehicle in the left or right lane and the current vehicle, and with reference to the standard safe distance, the distance between the vehicle in the left or right lane and the current vehicle is analyzed and evaluated.

[0050] If the travel distance is greater than or equal to the safe distance, the vehicle traveling in the current lane may turn into the left or right lane.

[0051] If the travel distance is less than the safe distance, vehicles traveling in the current lane cannot turn into the left or right lane.

[0052] Furthermore, the statement that if the travel distance is greater than or equal to the safe distance, the vehicle currently traveling in the lane can turn into the left or right lane includes:

[0053] When it is determined that a vehicle traveling in the current lane can turn into the left or right lane, the system monitors in real time whether the vehicle changes lanes.

[0054] When the current vehicle changes lanes, the distance to other vehicles on the lane-changing side is monitored in real time, and a real-time vehicle distance threshold is set based on the lane-changing situation; wherein, the real-time vehicle distance threshold is obtained by the following formula:

[0055]

[0056] in, Y t This represents the real-time vehicle distance threshold; A represents the current vehicle's head-off offset angle; A0 represents the maximum head-off offset angle required for the current vehicle to change lanes. L 0 indicates the traffic flow in the left and / or right lanes detected before the lane change; L Indicates the traffic flow in the left and / or right lanes when changing lanes; Y 0 represents the safe distance;

[0057] If a neighboring vehicle is traveling below the real-time vehicle distance threshold while the vehicle is changing lanes, the vehicle will automatically stop.

[0058] Furthermore, when a vehicle traveling in the current lane cannot directly turn into the left or right lane, the vehicle traveling in the current lane shall slow down.

[0059] When a vehicle in the current lane slows down, the distance between the vehicle in the current lane and the vehicles in the left or right lane is obtained in real time.

[0060] If the real-time travel distance is greater than or equal to the safe distance, the vehicle traveling in the current lane can turn into the corresponding left or right lane.

[0061] Furthermore, when a vehicle traveling in the current lane turns into the left or right lane, the following actions are performed:

[0062] It acquires real-time information about the surrounding environment of vehicles in the left and right lanes and performs a safety assessment of the left or right lane of the current lane.

[0063] If both the left and right lanes are safe lanes, then choose to turn into the left or right lane according to the priority order, where the priority order is lane safety.

[0064] If the lane safety of the left lane is greater than or equal to the lane safety of the right lane, then the vehicle currently traveling in the lane shall move into the left lane.

[0065] If the lane safety of the left lane is less than that of the right lane, then the vehicle currently traveling in the left lane shall move into the right lane.

[0066] Compared with the prior art, the beneficial effects of the present invention are:

[0067] 1. The real-time lane detection and dynamic verification system based on a visual navigation unit of the present invention utilizes a visual navigation unit to perceive the surrounding environment information of the vehicle in real time, providing important guidance for vehicle driving. It processes the acquired surrounding environment information to determine vehicle feasibility information, detects the situation of vehicles traveling in the current lane, and, based on the vehicle feasibility information, determines whether the vehicles in the current lane can pass normally, generates an analysis and evaluation report, executes corresponding vehicle driving strategies based on the analysis and evaluation report, and dynamically verifies the vehicle driving strategies, providing definitive guidance. This system can effectively avoid and change lanes for vehicles traveling in the lane, thereby improving vehicle driving safety.

[0068] 2. The real-time lane detection dynamic verification system based on a visual navigation unit of the present invention acquires vehicle feasibility information and determines whether there are obstacles in the current lane in which the vehicle is traveling. If there are no obstacles at a set distance L in front of the current vehicle, the vehicle can travel normally in the current lane. If there are obstacles at a set distance L in front of the current vehicle, the vehicle cannot travel normally in the current lane. When the vehicle cannot travel normally in the current lane, the system analyzes and evaluates the environmental information around the vehicle in the left or right lane of the current lane to determine whether the left or right lane of the current lane is a safe lane. If the left lane is a safe lane, the vehicle traveling in the current lane directly turns into the left lane. If the right lane is a safe lane, the vehicle traveling in the current lane directly turns into the right lane. If neither the left nor the right lane is a safe lane, the vehicle traveling in the current lane slows down and turns into the appropriate left or right lane at a suitable position, and issues a warning, thus fully ensuring vehicle driving safety. Attached Figure Description

[0069] Figure 1 This is a block diagram of the real-time lane detection dynamic verification system of the present invention;

[0070] Figure 2 This is a framework diagram of the information processing unit of the present invention;

[0071] Figure 3 This is a diagram of the algorithm used in this invention to detect the status of vehicles traveling in the current lane using a lane detection unit;

[0072] Figure 4 This is an algorithm diagram of the present invention for executing a corresponding vehicle driving strategy based on an analysis and evaluation report when the vehicle cannot drive normally in the current lane. Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] To address the existing technical problems of inadequate safety measures in avoiding and facilitating lane changes for vehicles traveling in the same lane, resulting in low vehicle driving safety, please refer to [link to relevant documentation]. Figures 1-4 This embodiment provides the following technical solution:

[0075] A real-time lane detection and dynamic verification system based on a vision navigation unit, including

[0076] The visual navigation unit is used to perceive the vehicle's surrounding environment in real time using sensors and visual cameras, providing important guidance for vehicle driving. The sensors include infrared sensors and ultrasonic sensors.

[0077] Furthermore, the visual navigation unit includes:

[0078] The startup module is used to activate the visual cameras in the front, rear, left, and right directions of the vehicle, perform a trial run on the visual cameras, and obtain the current operating parameter values ​​of the visual cameras. These operating parameter values ​​are obtained using the following formula:

[0079]

[0080] in, W Indicates the value of the running parameter; X This indicates the pixel resolution of the actual video image; X 0 indicates the preset pixel sharpness threshold; S Indicates the delay in actual video image transmission; S 0 represents the theoretical delay duration of video image transmission; λ Indicates the adjustment factor;

[0081] The comparison module is used to compare the operating parameter values ​​with preset parameter thresholds. When the operating parameter values ​​reach or exceed the preset parameter thresholds, the visual camera is determined to be operating well.

[0082] The position determination module is used to determine the position of the visual camera whose current operating parameters are lower than the preset parameter threshold when the operating parameter value is lower than the preset parameter threshold.

[0083] The first alarm module is used to issue an alarm and stop visual navigation operation if the visual camera is a front, left and / or right-facing visual camera.

[0084] The second alarm module is used to issue an alarm prompt if the visual camera is a front, left, and / or right-facing visual camera, but to continue visual navigation operation.

[0085] The information processing unit is used to process the acquired vehicle surrounding environment information, extract the vehicle surrounding environment information, quickly retrieve the vehicle surrounding environment information, filter out data information that is not useful for vehicle driving, retain data information that is useful for vehicle driving, classify the vehicle surrounding environment information that is useful for vehicle driving according to keywords, and calculate multiple sets of vehicle surrounding environment information based on the vehicle's own driving conditions to determine the vehicle's feasibility information.

[0086] The lane detection unit is used to detect the vehicles traveling in the current lane, detect the vehicles based on vehicle feasibility information, determine whether the vehicles in the current lane can pass normally, generate an analysis and evaluation report, and execute the corresponding vehicle driving strategy based on the analysis and evaluation report.

[0087] The dynamic verification unit is used to dynamically verify the vehicle driving strategy and provide definite guidance.

[0088] It should be noted that the visual navigation unit uses real-time perception of the vehicle's surrounding environment to provide crucial guidance for vehicle operation. This process involves processing the acquired environmental information, extracting key data, quickly retrieving information, filtering out irrelevant data, retaining only useful data, categorizing useful information by keywords, calculating feasibility based on multiple sets of environmental data according to the vehicle's own driving conditions, detecting vehicles in the current lane, assessing feasibility based on feasibility information, generating an analysis and evaluation report, implementing corresponding driving strategies based on the report, dynamically verifying the strategies, and providing definitive guidance. This allows for effective safe avoidance and lane changing for vehicles in the lane, improving overall driving safety.

[0089] Meanwhile, the detection capabilities of the aforementioned vision sensors can effectively improve the accuracy of vision sensor operational quality detection, preventing the problem of low-quality vision sensors going undetected and leading to reduced accuracy in subsequent dynamic verification. These vision sensor detection methods can effectively improve vehicle driving safety and the accuracy of dynamic detection.

[0090] Information processing unit includes

[0091] The information extraction module is used to extract information from the acquired vehicle surrounding environment information, and to completely extract the vehicle surrounding environment information from the acquired vehicle surrounding environment information.

[0092] The information retrieval module is used to retrieve information about the vehicle's surrounding environment, filter out data that is not useful for vehicle operation, and retain data that is useful for vehicle operation.

[0093] The information classification module is used to classify the retrieved information about the vehicle's surrounding environment, and to classify the information about the vehicle's surrounding environment that is useful for driving according to keywords.

[0094] The information calculation module is used to perform information calculations on the classified vehicle surrounding environment information. Based on the vehicle's own driving conditions, it calculates multiple sets of vehicle surrounding environment information to determine the vehicle's feasibility information.

[0095] It should be noted that the acquired vehicle surrounding environment information is processed, extracted, and quickly retrieved. Data that is not useful for vehicle operation is filtered out, while data that is useful for vehicle operation is retained. The vehicle surrounding environment information that is useful for vehicle operation is classified according to keywords. Based on the vehicle's own driving conditions, multiple sets of vehicle surrounding environment information are calculated to determine the vehicle's feasibility information.

[0096] When using a lane detection unit to detect the vehicles traveling in the current lane, perform the following operations:

[0097] Obtain vehicle feasibility information to determine whether there are obstacles in the current lane in which the vehicle is traveling;

[0098] Starting from the current vehicle's location and ending at a predetermined distance L in front of the current vehicle, obtain information about the vehicle's surrounding environment in the current area.

[0099] Based on the acquired vehicle surrounding environment information in the current area, and with reference to the vehicle surrounding environment information in the reference area at a set distance L, the acquired vehicle surrounding environment information in the current area is quickly detected.

[0100] If the vehicle's surrounding environment information in the current area is equal to the vehicle's surrounding environment information in the stored reference area, it means that there are no obstacles at a set distance L in front of the current vehicle, and the vehicle can drive normally in the current lane.

[0101] If the environmental information of the vehicle's surroundings in the current area is not equal to the environmental information of the vehicle's surroundings in the stored reference area, it indicates that there is an obstacle at a set distance L in front of the current vehicle, and the vehicle cannot drive normally in the current lane.

[0102] When a vehicle is unable to travel normally in its current lane, perform the following actions:

[0103] Obtain information about the surrounding environment of vehicles in the adjacent lanes of the current lane, evaluate the information about the surrounding environment of vehicles in the adjacent lanes, generate a corresponding analysis and evaluation report, and execute the corresponding vehicle driving strategy based on the analysis and evaluation report.

[0104] The analysis and evaluation report includes

[0105] Analyze and evaluate the environmental information surrounding the vehicles in the left lane of the current lane, and determine the first analysis and evaluation report;

[0106] Analyze and evaluate the environmental information surrounding the vehicles in the right lane of the current lane to determine Analysis and Evaluation Report 2;

[0107] Based on the determined analysis and evaluation reports one and two, implement the corresponding vehicle driving strategies;

[0108] The vehicle driving strategy includes

[0109] Vehicles traveling in the current lane should immediately move into the left lane.

[0110] Vehicles traveling in the current lane should immediately move into the right lane.

[0111] Vehicles traveling in the current lane should slow down and move into the appropriate left or right lane, with a warning issued.

[0112] When implementing the corresponding vehicle driving strategy based on the analysis and evaluation report, perform the following operations:

[0113] Analyze and evaluate the surrounding environment information of vehicles in the left lane of the current lane to determine whether the left lane of the current lane is a safe lane;

[0114] If the left lane is a safe lane, vehicles currently traveling in the lane will directly merge into the left lane.

[0115] If the left lane is not a safe lane, the environmental information around the vehicles in the right lane of the current lane is analyzed and evaluated to determine whether the right lane of the current lane is a safe lane.

[0116] If the right lane is a safe lane, vehicles traveling in the current lane may directly merge into the right lane.

[0117] If the right lane is not a safe lane, vehicles traveling in the current lane should slow down and move into the appropriate left or right lane, and a warning should be issued.

[0118] When analyzing and evaluating the surrounding environment information of vehicles in the left and right lanes of the current lane, perform the following operations:

[0119] Obtain vehicle information in the left or right lane, and determine the distance between the vehicle in the left or right lane and the current vehicle in real time based on the speed of the vehicle in the left or right lane and the current vehicle's speed.

[0120] Based on the distance between the vehicle in the left or right lane and the current vehicle, and with reference to the standard safe distance, the distance between the vehicle in the left or right lane and the current vehicle is analyzed and evaluated.

[0121] If the travel distance is greater than or equal to the safe distance, the vehicle traveling in the current lane may turn into the left or right lane.

[0122] If the travel distance is less than the safe distance, vehicles traveling in the current lane cannot turn into the left or right lane.

[0123] When a vehicle traveling in the current lane cannot directly merge into the left or right lane, the vehicle traveling in the current lane shall slow down.

[0124] When a vehicle in the current lane slows down, the distance between the vehicle in the current lane and the vehicles in the left or right lane is obtained in real time.

[0125] If the real-time travel distance is greater than or equal to the safe distance, the vehicle traveling in the current lane can turn into the corresponding left or right lane.

[0126] When a vehicle moving from the current lane turns into the left or right lane, the following actions shall be taken:

[0127] It acquires real-time information about the surrounding environment of vehicles in the left and right lanes and performs a safety assessment of the left or right lane of the current lane.

[0128] If both the left and right lanes are safe lanes, then choose to turn into the left or right lane according to the priority order, where the priority order is lane safety.

[0129] If the lane safety of the left lane is greater than or equal to the lane safety of the right lane, then the vehicle currently traveling in the lane shall move into the left lane.

[0130] If the lane safety of the left lane is less than that of the right lane, then the vehicle currently traveling in the left lane shall move into the right lane.

[0131] Meanwhile, the provision that if the travel distance is greater than or equal to the safe distance, vehicles traveling in the current lane can turn into the left or right lane includes:

[0132] When it is determined that a vehicle traveling in the current lane can turn into the left or right lane, the system monitors in real time whether the vehicle changes lanes.

[0133] When the current vehicle changes lanes, the distance to other vehicles on the lane-changing side is monitored in real time, and a real-time vehicle distance threshold is set based on the lane-changing situation; wherein, the real-time vehicle distance threshold is obtained by the following formula:

[0134]

[0135] in,Y t This represents the real-time vehicle distance threshold; A represents the current vehicle's head-off offset angle; A0 represents the maximum head-off offset angle required for the current vehicle to change lanes. L 0 indicates the traffic flow in the left and / or right lanes detected before the lane change; L Indicates the traffic flow in the left and / or right lanes when changing lanes; Y 0 represents the safe distance;

[0136] If a neighboring vehicle is traveling below the real-time vehicle distance threshold while the vehicle is changing lanes, the vehicle will automatically stop.

[0137] The above methods enable real-time monitoring of lane change distance safety during vehicle lane changes. The real-time threshold setting method allows for real-time threshold adjustment based on the actual stage of the lane change, effectively improving the accuracy of lane change monitoring and the timeliness of real-time threshold setting, thereby maximizing the accuracy of lane change safety assessment during lane change processes.

[0138] It should be noted that the process involves obtaining vehicle feasibility information to determine if there are any obstacles in the current lane. If there are no obstacles at a set distance L in front of the vehicle, the vehicle can drive normally in the current lane. If there are obstacles at a set distance L in front of the vehicle, the vehicle cannot drive normally in the current lane. When the vehicle cannot drive normally in the current lane, the environmental information around the vehicle in the left or right lane of the current lane is analyzed and evaluated to determine whether the left or right lane is a safe lane. If the left lane is a safe lane, the vehicle in the current lane will directly turn into the left lane. If the right lane is a safe lane, the vehicle in the current lane will directly turn into the right lane. If neither the left nor the right lane is a safe lane, the vehicle in the current lane will slow down and turn into the appropriate left or right lane at a suitable location, with a warning issued to fully ensure vehicle driving safety.

[0139] In summary, the real-time lane detection and dynamic verification system based on a visual navigation unit of the present invention utilizes the visual navigation unit to perceive the vehicle's surrounding environment in real time, providing important guidance for vehicle driving. It processes the acquired surrounding environment information, extracts and quickly retrieves it, filters out useless data, retains useful data, categorizes useful surrounding environment information according to keywords, calculates multiple sets of surrounding environment information based on the vehicle's own driving situation, determines vehicle feasibility information, detects vehicles in the current lane, assesses vehicle feasibility based on feasibility information, determines whether vehicles in the current lane can pass normally, generates an analysis and evaluation report, executes corresponding vehicle driving strategies based on the analysis and evaluation report, dynamically verifies the vehicle driving strategies, and provides definitive guidance. This system effectively avoids and facilitates lane changes for vehicles in the lane, improving vehicle driving safety.

[0140] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A real-time lane detection dynamic verification system based on a visual navigation unit, characterized in that, Comprising a visual navigation unit for sensing vehicle surrounding environment information in real time by using sensors and visual cameras, wherein the sensors include infrared sensors and ultrasonic sensors, and providing important guidance for vehicle driving; an information processing unit for processing the acquired vehicle surrounding environment information, extracting vehicle surrounding environment information, rapidly searching vehicle surrounding environment information, filtering out data information useless for vehicle driving, retaining data information useful for vehicle driving, classifying vehicle surrounding environment information useful for vehicle driving according to keywords, and calculating a plurality of groups of vehicle surrounding environment information according to vehicle driving conditions to determine vehicle feasibility information; a lane detection unit for detecting the conditions of vehicles driving on the current lane, detecting the driving vehicles according to the vehicle feasibility information, judging whether the vehicles on the current lane can normally drive through, determining an analysis and evaluation report, and executing corresponding vehicle driving strategies according to the analysis and evaluation report; a dynamic verification unit for dynamically verifying vehicle driving strategies and giving certain guidance; when the lane detection unit detects the conditions of vehicles driving on the current lane, the following operations are performed: vehicle feasibility information is acquired to determine whether there are obstacles on the current lane where the vehicle is driving; vehicle surrounding environment information of the current area is acquired, taking the position of the current vehicle as the starting point and the position at a set distance L in front of the current vehicle as the ending point; the acquired vehicle surrounding environment information of the current area is rapidly detected according to the acquired vehicle surrounding environment information of the current area and the stored vehicle surrounding environment information of the reference area at the set distance L; if the acquired vehicle surrounding environment information of the current area is equal to the stored vehicle surrounding environment information of the reference area, it indicates that there are no obstacles at the set distance L in front of the current vehicle, and the vehicle can normally drive on the current lane; if the acquired vehicle surrounding environment information of the current area is not equal to the stored vehicle surrounding environment information of the reference area, it indicates that there are obstacles at the set distance L in front of the current vehicle, and the vehicle cannot normally drive on the current lane; when the vehicle cannot normally drive on the current lane, the following operations are performed: vehicle surrounding environment information of the lanes beside the current lane is acquired, the vehicle surrounding environment information of the lanes beside the current lane is evaluated, corresponding analysis and evaluation reports are determined, and corresponding vehicle driving strategies are executed according to the analysis and evaluation reports; the analysis and evaluation reports include: analysis and evaluation of the vehicle surrounding environment information of the left lane of the current lane to determine analysis and evaluation report one; analysis and evaluation of the vehicle surrounding environment information of the right lane of the current lane to determine analysis and evaluation report two; corresponding vehicle driving strategies are executed according to the determined analysis and evaluation report one and analysis and evaluation report two; the vehicle driving strategies include: the vehicle driving on the current lane directly turns into the left lane to drive; the vehicle driving on the current lane directly turns into the right lane to drive; the vehicle driving on the current lane slows down and turns into the appropriate left lane or right lane to drive, and a warning is issued. When the vehicle driving strategy is executed according to the analysis and evaluation report, the following operations are performed: The vehicle surrounding environment information of the left lane of the current lane is analyzed and evaluated to determine whether the left lane of the current lane is a safe lane; If the left lane is a safe lane, the vehicle driving on the current lane directly turns into the left lane to drive; If the left lane is not a safe lane, the vehicle surrounding environment information of the right lane of the current lane is analyzed and evaluated to determine whether the right lane of the current lane is a safe lane; If the right lane is a safe lane, the vehicle driving on the current lane directly turns into the right lane to drive; If the right lane is not a safe lane, the vehicle driving on the current lane slows down and turns into the left lane or the right lane to drive, and a warning is issued.

2. The real-time lane detection dynamic verification system based on vision navigation unit of claim 1, wherein, The visual navigation unit includes: A start-up running module is configured to start the visual cameras in the front, rear, left, and right directions of the vehicle, perform a trial run on the visual cameras, and obtain a running parameter value of the current visual camera, wherein the running parameter value is obtained by the following formula: ； wherein W represents the running parameter value; X represents the actual pixel definition of the video image; X0 represents a preset pixel definition threshold; S represents the actual video image transmission delay; S0 represents the theoretical video image transmission delay duration; and λ represents an adjustment coefficient; A comparison module is configured to compare the running parameter value with a preset parameter threshold, and determine that the visual camera is in good running condition when the running parameter value reaches or exceeds the preset parameter threshold. A position determination module is configured to determine the position of the visual camera when the running parameter value is lower than the preset parameter threshold.

3. The real-time lane detection dynamic verification system based on vision navigation unit of claim 2, wherein, The information processing unit includes: An information extraction module is configured to extract information from the obtained vehicle surrounding environment information, and completely extract the vehicle surrounding environment information from the obtained vehicle surrounding environment information; An information retrieval module is configured to retrieve information from the extracted vehicle surrounding environment information, filter out data information that is useless for vehicle driving, and retain data information that is useful for vehicle driving; An information classification module is configured to classify the retrieved vehicle surrounding environment information according to keywords, and classify the vehicle surrounding environment information that is useful for vehicle driving according to keywords; An information calculation module is configured to calculate the classified vehicle surrounding environment information, calculate a plurality of groups of vehicle surrounding environment information according to the vehicle driving conditions, and determine vehicle feasibility information.

4. The real-time lane detection dynamic verification system based on vision navigation unit of claim 3, wherein, When the vehicle surrounding environment information of the left lane and the right lane of the current lane is analyzed and evaluated, the following operations are performed: Vehicle information of the left lane or the right lane is obtained, and the driving distance between the vehicle on the left lane or the right lane and the current vehicle is determined in real time according to the driving speed of the vehicle on the left lane or the right lane and the driving speed of the current vehicle; The driving distance between the vehicle on the left lane or the right lane and the current vehicle is analyzed and evaluated according to the driving distance and by referring to a standard safety distance. If the driving distance is greater than or equal to the safety distance, the vehicle driving in the current lane can turn into the left lane or the right lane; If the driving distance is less than the safety distance, the vehicle driving in the current lane cannot turn into the left lane or the right lane.

5. The real-time lane detection dynamic verification system based on vision navigation unit of claim 4, wherein, The if the driving distance is greater than or equal to the safety distance, the vehicle driving in the current lane can turn into the left lane or the right lane, comprises: When it is determined that the vehicle driving in the current lane can turn into the left lane or the right lane, whether the vehicle performs lane changing is monitored in real time; When the vehicle performs lane changing, the distance of the vehicle on the lane changing side is monitored in real time, and a real-time vehicle distance threshold is set according to the lane changing situation; wherein the real-time vehicle distance threshold is obtained by the following formula: ； wherein Y t represents a real-time vehicle distance threshold; A represents a head offset angle of the current vehicle; A0represents a maximum head offset angle required for the current vehicle to change lanes; L0represents a traffic flow of a left and / or right lane detected before changing lanes; L represents a traffic flow of a left and / or right lane when changing lanes; Y0represents the safety distance; When the vehicle is driving in the current lane, if the driving distance of the adjacent vehicle is less than the real-time vehicle distance threshold, the vehicle is automatically stopped.

6. The real-time lane detection dynamic verification system based on vision navigation unit of claim 5, wherein, When the vehicle driving in the current lane cannot directly turn into the left lane or the right lane, the vehicle driving in the current lane slows down; When the vehicle driving in the current lane slows down, the driving distance between the vehicle driving in the current lane and the vehicle in the left lane or the right lane is obtained in real time; If the real-time driving distance is greater than or equal to the safety distance, the vehicle driving in the current lane can turn into the corresponding left lane or right lane.

7. The real-time lane detection dynamic verification system based on vision navigation unit of claim 6, wherein, When the vehicle driving in the current lane turns into the left lane or the right lane, the following operations are performed: Real-time surrounding environment information of the vehicle in the left lane and the right lane is obtained, and safety evaluation of the left lane or the right lane of the current lane is performed; If both the left lane and the right lane are safe lanes, the left lane or the right lane is selected to turn into according to the priority order, wherein the priority order is lane safety; If the lane safety of the left lane is greater than or equal to the lane safety of the right lane, the vehicle driving in the current lane turns into the left lane; If the lane safety of the left lane is less than the lane safety of the right lane, the vehicle driving in the current lane turns into the right lane.

Images