A lane departure warning method, device, electronic equipment, and storage medium

Abstract

This invention discloses a lane departure warning method, device, electronic device, and storage medium. The lane departure warning method includes: determining a warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's departure direction; determining the shortest distance from the vehicle's reference position in the vehicle's departure direction to the lane line within the warning judgment reference area; determining the vehicle's position inside or outside the lane line based on the shortest distance; and generating a lane departure warning based on a warning strategy corresponding to the inside or outside position. This invention improves the accuracy of lane departure warnings and enhances the user experience by pre-judging the warning judgment reference area, predicting the vehicle's position within the warning judgment reference area, and then generating a lane departure warning based on the vehicle's position.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, and in particular to a lane departure warning method, device, electronic device, and storage medium. Background Technology

[0002] Traffic accidents caused by vehicles deviating from their normal driving path are increasing. In recent years, with the continuous development of intelligent driving vehicles, more and more car manufacturers are equipping their vehicles with lane departure warning functions. When a vehicle deviates from its lane due to the driver's unintentional operation, the system can issue a warning and actively control the vehicle to return to its lane, avoiding traffic accidents caused by driver error.

[0003] Common lane departure warning methods employ a cross-line time algorithm, which calculates the time it takes for the wheels to touch the outer edge of the lane while the vehicle is maintaining its current driving state. This calculated time is compared to a pre-set threshold; if the time is less than the threshold, an alarm or corrective signal is issued. However, this method requires consideration of straight road segments, curved road segments, and both straight and curved driving trajectories, necessitating multiple algorithm models. Therefore, a simple and highly accurate lane departure warning method is a pressing issue that needs to be addressed. Summary of the Invention

[0004] This invention provides a lane departure warning method, device, electronic device, and storage medium to accurately warn of lane departure of vehicles and reduce traffic accidents caused by lane departure.

[0005] According to one aspect of the present invention, a lane departure warning method is provided, wherein the method includes:

[0006] The warning judgment benchmark area is determined based on vehicle motion information and lane line information of the lane line in the direction of vehicle deviation.

[0007] Determine the shortest distance between the vehicle reference position and the lane line in the vehicle deviation direction within the early warning judgment reference area;

[0008] Determine the vehicle's position inside or outside the lane lines based on the shortest distance;

[0009] Lane departure warnings are generated based on the warning strategies corresponding to the internal and external locations.

[0010] According to another aspect of the present invention, a lane departure warning device is provided, wherein the device comprises:

[0011] The reference area determination module is used to determine the warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's deviating direction.

[0012] The shortest distance determination module is used to determine the shortest distance between the vehicle's reference position and the lane line in the direction of vehicle deviation within the warning judgment reference area.

[0013] The vehicle position determination module is used to determine the vehicle's position inside or outside the lane lines based on the shortest distance.

[0014] The lane departure warning generation module is used to generate lane departure warnings based on the warning strategies corresponding to the internal and external positions.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor;

[0017] and memory that is communicatively connected to at least one processor;

[0018] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to execute the lane departure warning method of any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the lane departure warning method of any embodiment of the present invention.

[0020] The technical solution of this invention determines the warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's deviation direction. It then determines the shortest distance between the vehicle's reference position in the vehicle's deviation direction and the lane line within the warning judgment reference area. Based on the shortest distance, it determines the vehicle's position inside or outside the lane line. Based on the warning strategy corresponding to the inside or outside position, it generates a lane departure warning. This achieves the goal of predicting the vehicle's position in the warning judgment reference area after pre-judging it, and then generating a lane departure warning based on the vehicle's position, thereby improving the accuracy of the lane departure warning.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a lane departure warning method provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of a lane departure warning method provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a flowchart of a lane departure warning method provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of a lane departure warning system provided according to Embodiment 3 of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of a lane departure warning device according to Embodiment 4 of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the lane departure warning method of this invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1This is a flowchart of a lane departure warning method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where a vehicle is about to deviate from its lane. The method can be executed by a lane departure warning device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0033] S110. Determine the warning judgment benchmark area based on vehicle motion information and lane line information of the lane line in the direction of vehicle deviation.

[0034] Vehicle motion information refers to information generated during vehicle operation. For example, vehicle motion information may include, but is not limited to, lateral velocity, longitudinal velocity, current vehicle speed, and yaw angle. In actual operation, vehicle motion information can be acquired through pre-set sensors such as steering angle sensors, torque sensors, and vehicle speed sensors. Lane line information refers to the attribute information of lane lines in the direction of vehicle deviation. For example, lane line information may include, but is not limited to, lane line slope and lane line curvature. In actual operation, multiple lane line images of the current road conditions can be acquired through visual sensors, and lane line information can be determined based on these images. The warning judgment reference area refers to the reference area for determining and generating warning information. The warning judgment reference area can include the current vehicle position and the predicted vehicle position, and can be determined based on the vehicle motion information and the lane line information in the direction of vehicle deviation.

[0035] In this embodiment of the invention, lane line images collected by a vision sensor can be acquired, and lane line equations can be fitted based on these images. The lane line equations can include, but are not limited to, cubic polynomial equations. Based on the fitted lane line equations, lane line information such as lane line slope and lane line curvature can be determined. In actual operation, before acquiring data from the vision sensor, a coordinate system can be established with the center of hardware such as the front bumper of the vehicle as the origin. This coordinate system can include, but is not limited to, a Cartesian coordinate system. The vehicle's driving direction can be the positive horizontal axis, with the left side positive and the right side negative, facilitating the determination of the vehicle's position and lane line information.

[0036] The vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed are acquired from preset sensors as vehicle motion information. After determining the vehicle motion information and lane line information of the lane line in the vehicle's deviation direction, preset threshold conditions for determining the warning judgment reference area can be extracted to determine the warning judgment reference area. For example, when the lane line curvature is greater than a preset threshold lane line curvature or the current vehicle speed is greater than a preset threshold vehicle speed, the warning judgment reference area can be determined as the predicted vehicle position; when the lane line curvature is less than a preset threshold lane line curvature and the current vehicle speed is less than a preset threshold vehicle speed, the warning judgment reference area can be determined as the current vehicle position.

[0037] S120. Determine the shortest distance between the vehicle reference position and the lane line in the vehicle deviation direction within the warning judgment reference area.

[0038] The vehicle reference position can be a pre-set location used to determine the shortest distance between the vehicle and the lane line. In actual operation, the vehicle reference position can include, but is not limited to, the position of the front wheels in the vehicle's offset direction. For example, when the vehicle offsets to the left, the vehicle reference position can be the left front wheel; when the vehicle offsets to the right, the vehicle reference position can be the right front wheel.

[0039] In this embodiment, the position information of the vehicle reference position in the vehicle offset direction within the warning judgment reference area can be determined, and then the shortest distance between the vehicle reference position and the lane line can be determined. In actual operation, when the warning judgment reference area is the current vehicle position, the coordinate information of the current vehicle reference position can be determined as the vehicle reference position information. When the warning judgment reference area is the predicted vehicle position, the coordinate information of the predicted vehicle reference position can be determined. In one embodiment, a preset prediction duration can be obtained, and the coordinate information of the predicted vehicle reference position can be determined according to the vehicle motion information and the preset prediction duration. For example, the product of the yaw angle and the preset prediction duration can be used as the turning angle, the product of the lateral velocity and the preset prediction duration as the lateral movement distance, and the product of the longitudinal velocity and the preset prediction duration as the longitudinal movement distance. The product of the sum of the horizontal coordinate and lateral movement distance of the current vehicle reference position and the cosine of the turning angle, plus the product of the sum of the vertical coordinate and longitudinal movement distance of the current vehicle reference position and the sine of the turning angle, is used as the horizontal coordinate of the predicted vehicle reference position. The product of the sum of the vertical coordinate and longitudinal movement distance of the current vehicle reference position and the cosine of the turning angle, minus the product of the sum of the horizontal coordinate and lateral movement distance of the current vehicle reference position and the sine of the turning angle, is used as the vertical coordinate of the predicted vehicle reference position.

[0040] On the lane line, determine the first lane line point that corresponds to the longitudinal coordinate of the predicted position of the vehicle reference position. At this first lane line point, determine the first tangent of the lane line. Determine the shortest distance from the vehicle reference position in the vehicle's deviation direction within the warning judgment reference area to the first tangent as the shortest distance from the vehicle reference position in the vehicle's deviation direction to the lane line within the warning judgment reference area.

[0041] S130. Determine the position of the vehicle inside or outside the lane line based on the shortest distance.

[0042] The inner and outer positions can be preset positions, determined according to preset inner boundary thresholds and preset outer boundary thresholds. The inner and outer positions of the lane lines can include the inner side of the lane line, the boundary area of ​​the lane line, and the outer side of the lane line.

[0043] In this embodiment, preset inner boundary thresholds and preset outer boundary thresholds for defining the inner and outer positions of lane lines can be extracted. The relationship between the shortest distance and these thresholds is then determined, thereby identifying the vehicle's position within or outside the lane lines. In actual operation, after obtaining the preset inner and outer boundary thresholds, the shortest distance is compared with each threshold. When the shortest distance is less than the preset inner boundary threshold, the vehicle is confirmed to be inside the lane line; when the shortest distance is greater than the preset inner boundary threshold but less than the preset outer boundary threshold, the vehicle is confirmed to be within the lane line boundary area; and when the shortest distance is greater than the preset outer boundary threshold, the vehicle is confirmed to be outside the lane line.

[0044] S140. Generate lane departure warning based on the warning strategy corresponding to the internal and external positions.

[0045] The early warning strategy can be a pre-set warning method targeting the inner and outer positions of lane lines. In actual operation, different strategies can be applied to different inner and outer positions.

[0046] In the embodiments of the invention, after determining the inner and outer positions, lane departure warnings can be generated according to the strategies corresponding to the inner and outer positions. In one embodiment, when the inner and outer positions are such that the vehicle is inside the lane line, a first warning strategy is extracted to not generate a lane departure warning; when the inner and outer positions are such that the vehicle is in the boundary area of ​​the lane line, a second warning strategy is extracted to generate a lane departure warning; and when the inner and outer positions are determined to be such that the vehicle is outside the lane line, a third warning strategy is extracted to suppress lane departure warnings.

[0047] This invention, in its embodiments, determines a warning judgment benchmark area based on vehicle motion information and lane line information in the direction of vehicle deviation. It then determines the shortest distance between the vehicle's reference position and the lane line in the direction of vehicle deviation within this benchmark area. Based on this shortest distance, it determines the vehicle's position inside or outside the lane line and generates a lane departure warning according to the corresponding warning strategy. By determining the warning judgment benchmark area based on vehicle motion information and lane line information, and then determining the shortest distance between the vehicle and the lane line within this benchmark area, the vehicle's position is determined. Based on the vehicle's position, a corresponding lane departure warning is generated, improving the accuracy of predicting the vehicle's inside and outside position and providing more accurate lane departure warnings, thus enhancing the user experience.

[0048] Example 2

[0049] Figure 2 This is a flowchart of a lane departure warning method according to Embodiment 2 of the present invention. This embodiment is a further explanation of a lane departure warning method based on the above embodiment. Figure 2 As shown, the method includes:

[0050] S2010. Establish a coordinate system with the center of the vehicle's front bumper as the origin. The coordinate system uses the vehicle's driving direction as the horizontal axis and the vehicle's lateral direction as the vertical axis.

[0051] In the embodiments of the invention, a coordinate system can be established with the center of the front bumper of the vehicle as the origin, the direction of the vehicle's travel as the positive direction of the horizontal axis, the opposite direction of the vehicle's travel as the negative direction of the horizontal axis, the leftward direction of the vehicle's lateral direction as the positive direction of the vertical axis, and the rightward direction of the vehicle's lateral direction as the negative direction of the vertical axis. The coordinate system may include, but is not limited to, the Cartesian coordinate system.

[0052] S2020: Generate lane line equations by fitting lane lines according to the vehicle's offset direction.

[0053] In this embodiment, lane line images captured by a vision sensor can be acquired, and lane line equations can be generated by fitting the lane lines according to their offset direction. In actual operation, the lane line equations can also be generated by a system-on-a-chip (SoC), and the lane line equations fitted by the SoC can be directly obtained. In one embodiment, the lane line equation can be a cubic polynomial equation. In actual operation, the vision sensor can detect multiple lane line information of the current road conditions and can identify lane lines in the vehicle's offset direction to generate lane line equations.

[0054] S2030. Determine the lane line slope and lane line curvature as lane line information according to the lane line equation.

[0055] In this embodiment of the invention, after determining the lane line equation, the lane line slope and lane line curvature can be determined according to the physical meaning of the lane line equation, and the lane line slope and lane line curvature can be used as lane line information. In one embodiment, when the lane line equation is y=C0+C1x+C2x 2 +C3x 3 At that time, the corresponding lane slope is k = y' = C1 + 2C2x + 3C3x 2 Ideally, the lane curvature can be C2.

[0056] S2040: Collect the vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed as vehicle motion information.

[0057] In this embodiment of the invention, the vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed can be determined using preset sensors. In actual operation, the preset sensors may include, but are not limited to, steering angle sensors, torque sensors, and vehicle speed sensors. The yaw angle, lateral velocity, longitudinal velocity, and current speed collected by the preset sensors can be used as vehicle motion information.

[0058] S2050 When the lane curvature is greater than the preset threshold lane curvature or the current vehicle speed is greater than the preset threshold vehicle speed, the warning judgment benchmark area is determined as the predicted vehicle position.

[0059] The warning judgment reference area may include the predicted vehicle position and the current vehicle position. The preset threshold lane curvature may be a pre-set critical value for determining the warning judgment reference area based on lane curvature, and the preset threshold vehicle speed may be a pre-set critical value for determining the warning judgment reference area based on vehicle speed. The preset threshold lane curvature and preset threshold vehicle speed may be thresholds set according to user needs. In one embodiment, the preset threshold vehicle speed may include, but is not limited to, 75 km / h, 80 km / h, 85 km / h, etc.

[0060] In one embodiment of the invention, when the lane curvature is greater than a threshold or the current vehicle speed is greater than a preset threshold speed, the warning judgment reference area can be determined as the predicted vehicle position. In another embodiment, when the lane curvature is greater than a threshold and the current vehicle speed is greater than a preset threshold speed, the warning judgment reference area can also be determined as the predicted vehicle position.

[0061] S2060. When the lane curvature is less than the preset threshold lane curvature and the current vehicle speed is less than the preset threshold vehicle speed, the warning judgment benchmark area is determined as the current vehicle position.

[0062] S2070. Determine the position coordinates of the vehicle reference position in the vehicle offset direction within the early warning judgment reference area.

[0063] In this embodiment of the invention, after determining the warning reference area, the position coordinates of the vehicle reference position in the vehicle's deviation direction can be determined. When the warning judgment reference area is the current vehicle position, the position coordinates of the current vehicle reference position can be determined; when the warning judgment reference area is the predicted vehicle position, the position coordinates of the predicted vehicle reference position can be determined.

[0064] In one embodiment, when the warning judgment reference area is the predicted vehicle position, determining the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area includes:

[0065] Determine the current lateral and longitudinal coordinates of the vehicle's reference position at the current vehicle location;

[0066] The turning angle, lateral movement distance, and longitudinal movement distance are respectively calculated by multiplying the yaw angle, lateral velocity, and longitudinal velocity by the preset prediction time.

[0067] Determine the sum of the current horizontal coordinate and the horizontal movement distance as the first value, and determine the sum of the current vertical coordinate and the vertical movement distance as the second value;

[0068] The product of the first value and the cosine of the turning angle, plus the product of the second value and the sine of the turning angle, is used as the horizontal coordinate of the position coordinate.

[0069] The product of the second value and the cosine of the turning angle, minus the product of the first value and the sine of the turning angle, is used as the vertical coordinate of the position coordinate.

[0070] In this embodiment of the invention, the current lateral coordinates and current longitudinal coordinates of the vehicle reference position at the current vehicle position can be determined. The product of the yaw angle and a preset prediction time is determined as the turning angle, the product of the lateral velocity and the preset prediction time is determined as the lateral movement distance, and the product of the longitudinal velocity and the preset prediction time is determined as the longitudinal movement distance. The sum of the current lateral coordinates and the lateral movement distance is used as a first value, and the sum of the current longitudinal coordinates and the longitudinal movement distance is used as a second value. The product of the first value and the cosine of the turning angle, plus the product of the second value and the sine of the turning angle, is determined as the lateral coordinate of the position coordinates. The product of the second value and the cosine of the turning angle, minus the product of the first value and the sine of the turning angle, is determined as the longitudinal coordinate of the position coordinates.

[0071] In one embodiment, when the warning judgment reference area is the current vehicle position, determining the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area includes:

[0072] The current lateral and longitudinal coordinates of the vehicle reference position are used as the position coordinates of the vehicle reference position.

[0073] S2080. Determine a first lane line point on the lane line that has the same vertical coordinate as the vehicle reference position coordinates, and determine the first tangent of the lane line at the first lane line point.

[0074] In this embodiment of the invention, a first lane line point on the lane line with the same ordinate as the vehicle's reference position can be determined, and a first tangent line of the lane line is determined through this first lane line point. In actual operation, the equation of the first tangent line can be determined according to the slope of the lane line.

[0075] S2090. Determine the first shortest distance between the vehicle's reference position and the first tangent as the shortest distance.

[0076] In this embodiment of the invention, after determining the first tangent, a perpendicular line to the first tangent can be determined through the vehicle reference position, and the length of the perpendicular line is determined as the first shortest distance, which is then used as the shortest distance. In actual operation, the shortest distance from the vehicle reference position to the first tangent can also be determined using the formula for the distance between a point and a line.

[0077] S2100. Extract the preset inner boundary threshold and preset outer boundary threshold corresponding to the inner and outer positions, and determine the relationship between the shortest distance and the preset inner boundary threshold and the preset outer boundary threshold, respectively.

[0078] The preset inner boundary threshold can be the boundary threshold for dividing the lane lines inside the lane; the preset outer boundary threshold can be the boundary threshold for dividing the lane lines outside the lane. Both the preset inner and outer boundary thresholds can be thresholds set according to user requirements. In actual operation, the preset inner and outer boundary thresholds can be boundary thresholds at preset distances from the lane lines. For example, the preset inner boundary threshold can include, but is not limited to, distances of 0.1 meters, 0.2 meters, and 0.3 meters from the inside of the lane lines, and the preset outer boundary threshold can include, but is not limited to, distances of 0.1 meters, 0.2 meters, and 0.3 meters from the outside of the lane lines.

[0079] In the embodiments of the invention, preset inner boundary thresholds and preset outer boundary thresholds corresponding to the inner and outer positions can be extracted, and the relationship between the shortest distance and the preset inner boundary thresholds and preset outer boundary thresholds can be determined respectively.

[0080] S2110. When the shortest distance is less than the preset inner boundary threshold, confirm that the vehicle is located inside the lane line.

[0081] S2120. When the shortest distance is greater than the preset inner boundary threshold and less than the preset outer boundary threshold, confirm that the vehicle is located in the boundary area of ​​the lane line.

[0082] S2130. When the shortest distance is greater than the preset outer boundary threshold, confirm that the vehicle is located outside the lane line.

[0083] S2140. When the vehicle is determined to be inside the lane line, the first warning strategy does not generate a lane departure warning.

[0084] The first warning strategy can refer to a strategy that does not generate lane departure warnings.

[0085] In the embodiment of the invention, when it is determined that the vehicle is located inside the lane line, the corresponding first warning strategy can be extracted, and lane departure warning is not generated.

[0086] S2150. When the vehicle is determined to be located in the boundary area of ​​the lane line, the second warning strategy is extracted to generate a lane departure warning.

[0087] The second warning strategy can refer to a strategy that does not generate a lane departure warning. Specifically, lane departure warnings can include in-vehicle alarms or similar mechanisms to alert the driver when the vehicle is deviating from its lane.

[0088] In an embodiment of the invention, when the inner and outer positions are determined to be the boundary area of ​​the lane line, the corresponding second warning strategy can be extracted to generate a lane departure warning.

[0089] S2160. When the vehicle is determined to be outside the lane line, the third warning strategy is extracted to suppress lane departure warning.

[0090] The third warning strategy can refer to a strategy that generates a lane departure mitigation warning. A lane departure mitigation warning can be implemented by stopping the lane departure warning when it is triggered.

[0091] In the embodiment of the invention, when the vehicle is determined to be outside the lane line, it can be considered that the vehicle is in the opposite lane. At this time, the vehicle may be overtaking or performing other behaviors. At this time, the corresponding third warning strategy can be extracted to generate a lane departure suppression warning.

[0092] In this embodiment of the invention, a coordinate system is established with the center of the vehicle's front bumper as the origin. The coordinate system uses the vehicle's driving direction as the horizontal axis and the vehicle's lateral direction as the vertical axis. A lane line equation is generated by fitting the lane line according to the vehicle's offset direction. The lane line slope and lane line curvature are determined as lane line information based on the lane line equation. The vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed are collected as vehicle motion information. When the lane line curvature is greater than a preset threshold or the current speed is greater than a preset threshold, a warning judgment reference area is determined as the predicted vehicle position. When the lane line curvature is less than a preset threshold and the current speed is less than a preset threshold, a warning judgment reference area is determined as the current vehicle position. The position coordinates of the vehicle reference position in the vehicle's offset direction within the warning judgment reference area are determined. A first lane line point with the same vertical coordinate as the vehicle reference position is determined on the lane line, and a first tangent line of the lane line is determined at the first lane line point. The shortest distance from the vehicle's reference position to the first tangent line is determined as the shortest distance. Preset inner and outer boundary thresholds corresponding to the inner and outer positions are extracted, and the relationship between the shortest distance and these thresholds is determined. When the shortest distance is less than the preset inner boundary threshold, the vehicle is confirmed to be inside the lane line; when the shortest distance is greater than the preset inner boundary threshold but less than the preset outer boundary threshold, the vehicle is confirmed to be in the boundary area of ​​the lane line; when the shortest distance is greater than the preset outer boundary threshold, the vehicle is confirmed to be outside the lane line. When the vehicle is determined to be inside the lane line, a first warning strategy is implemented to not generate a lane departure warning; when the vehicle is determined to be in the boundary area of ​​the lane line, a second warning strategy is implemented to generate a lane departure warning; when the vehicle is determined to be outside the lane line, a third warning strategy is implemented to suppress the lane departure warning. This achieves the goal of generating a lane departure warning according to the corresponding warning strategy when the vehicle is determined to be inside or outside the lane line, preventing erroneous alarms when the vehicle has not actually deviated from its lane, and improving the user experience.

[0093] Example 3

[0094] Figure 3 This is a flowchart of a lane departure warning method according to Embodiment 3 of the present invention. This embodiment, based on the above embodiments, takes the vehicle's deviation direction as left deviation and the vehicle's reference position as the left front wheel as an example to further illustrate a lane departure warning method. Figure 3 As shown, the method includes:

[0095] S3010. Establish a Cartesian coordinate system centered on the front bumper of the vehicle.

[0096] In actual operation, the vehicle's direction of travel can be taken as the positive X-axis, and the Y-axis direction can be taken as positive on the left and negative on the right.

[0097] In one embodiment, Figure 4 This is a schematic diagram of a lane departure warning system according to Embodiment 3 of the present invention. In this diagram, Outer represents a preset outer boundary threshold, Inner represents a preset inner boundary threshold, Region 1 is the area where the vehicle is located inside the lane line, Region 2 is the area where the vehicle is located at the boundary of the lane line, and Region 3 is the area where the vehicle is located outside the lane line. Point M is the position of the left front wheel of the vehicle when the warning judgment reference area is the current vehicle position; Point N is the position of the left front wheel of the vehicle when the warning judgment reference area is the predicted vehicle position. Point A is a first lane line point on the lane line where the ordinate of the left front wheel's position is the same as the ordinate of the vehicle's position coordinates when the warning judgment reference area is the current vehicle position; Point B is a first lane line point on the lane line where the ordinate of the left front wheel's position coordinates is the same as the ordinate of the vehicle's position coordinates when the warning judgment reference area is the predicted vehicle position. d1 is the first shortest distance from the left front wheel of the vehicle to the first tangent line when the warning judgment reference area is the current vehicle position, and d2 is the first shortest distance from the left front wheel of the vehicle to the first tangent line when the warning judgment reference area is the predicted vehicle position.

[0098] S3020: Obtain lane line equations and vehicle motion parameters.

[0099] This involves acquiring multiple lane line images of the current road conditions detected by a visual sensor, and generating lane line equations based on these images. These equations can be generated by a system-on-a-chip and can be represented by a cubic polynomial, for example, y = C0 + C1x + C2x. 2 +C3x 3 The vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed are collected as vehicle motion information.

[0100] S3030, Determine the coordinates of point M (left front wheel) and point A (intersection with left lane) at the current moment.

[0101] Where M is the position of the vehicle's left front wheel, with coordinates (0, Veh_Width / 2), and A is the intersection of the y-axis and the lane line, with coordinates (0, C0).

[0102] S3040, Calculate the tangent line at point A as the first tangent line.

[0103] According to the tangent equation formula: y - y0 = k(x - x0), the slope of the lane line is k = y' = C1 + 2C2x + 3C3x 2 Substituting the coordinates of point A into the above formula will give us the equation of the tangent line.

[0104] S3050. When the warning judgment benchmark area is the current vehicle position, the first shortest distance between the left front wheel of the vehicle and the first tangent is determined as the shortest distance d1.

[0105] S3060, Determine the predicted vehicle position after the preset prediction time, and determine the position N of the left front wheel.

[0106] In actual operation, considering the yaw rate during vehicle movement, the preset prediction time is ΔT, and the prediction formula is as follows:

[0107] Lateral movement distance: Δx = vx * ΔT

[0108] Longitudinal movement distance: Δy=vy*ΔT

[0109] Turning angle: Ω = yawrate * ΔT

[0110] The horizontal coordinate x′ = cosΩ(x + Δx) + sinΩ(y + Δy)

[0111] The vertical coordinate y′ = -sinΩ(x+Δx) + cosΩ(y+Δy)

[0112] S3070. Determine the second lane line point B, which has the same ordinate as the left front wheel N point at the preset prediction time, and calculate the tangent line at point B as the second tangent line.

[0113] S3080. Determine the warning judgment benchmark area as the second shortest distance d2 between the left front wheel of the vehicle and the second tangent when predicting the vehicle position.

[0114] S3090: Determine the vehicle's position inside or outside the lane line based on the shortest distance and a preset boundary threshold, and generate a lane departure warning based on the warning strategy corresponding to the inside or outside position.

[0115] In this embodiment, when the warning judgment reference area is the current vehicle position, the position of point M (the current vehicle's left front wheel) within the lane line can be determined based on the set boundary thresholds Inner (preset outer boundary threshold), Outer (preset inner boundary threshold), the value of d1, and the positional relationship between point M and the tangent of point A (whether point M is above or below the tangent). A lane departure warning is then generated based on the warning strategy corresponding to the inner and outer positions. Specifically, area I (the inner side of the lane line) is a safe area and no alarm is triggered; area II (the boundary area of ​​the lane line) is a danger warning area; and area III (the outer side of the lane line) is a vehicle crossing the lane line area, and alarms are suppressed. When the warning judgment reference area is the predicted vehicle position, the area where point N (the predicted left front wheel of the vehicle) is located can be determined based on the set boundary thresholds Inner (preset outer boundary threshold), Outer (preset inner boundary threshold), the value of d2, and the positional relationship between point N and the tangent of point B (whether point N is above or below the tangent).

[0116] S3100: Determine whether the current vehicle speed is greater than the preset vehicle speed threshold. If yes, proceed to S3130; otherwise, proceed to S3120.

[0117] S3110: Determine whether the lane line curvature is greater than the preset lane line curvature threshold. If yes, proceed to S3030; otherwise, proceed to S3020.

[0118] S3120: Issue an alarm based on the current location of the left wheel M.

[0119] S3130: An alarm is triggered based on the current location of the left wheel N.

[0120] S3140. Determine whether the left wheel M of the current vehicle is located in area 2. If yes, proceed to S3160; otherwise, proceed to S3170.

[0121] S3150. Determine whether the left wheel N of the current vehicle is located in area 2. If yes, proceed to S3160; otherwise, proceed to S3170.

[0122] S3160, the system issues a vehicle deviation warning.

[0123] S3170, the system does not issue a vehicle deviation warning.

[0124] In this embodiment, a warning can be issued by combining the area where the current vehicle's left front wheel is located and the area where the predicted vehicle's left front wheel is located. The judgment rules are as follows: when the vehicle speed is less than a set threshold (e.g., 80 km / h), or when the curvature of the current lane line is less than a set threshold, a warning is issued based on the area where the current vehicle's left front wheel M is located; otherwise, a warning is issued based on the area where the predicted vehicle's left front wheel N is located.

[0125] Example 4

[0126] Figure 5 This is a schematic diagram of a lane departure warning device according to Embodiment 4 of the present invention. Figure 5 As shown, the device includes: a reference area determination module 41, a shortest distance determination module 42, a vehicle position determination module 43, and an offset warning generation module 44.

[0127] The reference area determination module 41 is used to determine the warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's deviation direction.

[0128] The shortest distance determination module 42 is used to determine the shortest distance between the vehicle reference position and the lane line in the vehicle offset direction within the warning judgment reference area.

[0129] The vehicle position determination module 43 is used to determine the position of the vehicle inside or outside the lane line based on the shortest distance.

[0130] Lane departure warning generation module 44 is used to generate lane departure warnings based on the warning strategies corresponding to the inner and outer positions.

[0131] In this embodiment of the invention, a reference area determination module determines a warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's deviation direction. A shortest distance determination module determines the shortest distance between the vehicle's reference position and the lane line in the vehicle's deviation direction within the warning judgment reference area. A vehicle position determination module determines the vehicle's position inside or outside the lane line based on the shortest distance. A lane departure warning generation module generates a lane departure warning based on the warning strategy corresponding to the inside and outside positions. By determining the warning judgment reference area according to vehicle motion information and lane line information, and then determining the shortest distance between the vehicle and the lane line within the warning judgment reference area to determine the vehicle position, and generating a corresponding lane departure warning based on the vehicle position, the accuracy of predicting the vehicle's inside and outside positions is improved, resulting in more accurate lane departure warnings and an enhanced user experience.

[0132] In one embodiment, the reference region determination module 41 includes:

[0133] The coordinate system establishment unit is used to establish a coordinate system with the center of the vehicle's front bumper as the origin. The coordinate system uses the vehicle's driving direction as the horizontal axis and the vehicle's lateral direction as the vertical axis.

[0134] The equation determination unit is used to generate lane line equations by fitting lane lines according to the vehicle's offset direction;

[0135] The lane line information determination unit is used to determine the lane line slope and lane line curvature as lane line information according to the lane line equation.

[0136] The information acquisition unit is used to collect the vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed as vehicle motion information.

[0137] The first reference area determination unit is used to determine the warning judgment reference area as the predicted vehicle position when the lane line curvature is greater than the preset threshold lane line curvature or the current vehicle speed is greater than the preset threshold vehicle speed.

[0138] The second reference area determination unit is used to determine the warning judgment reference area as the current vehicle position when the lane line curvature is less than a preset threshold lane line curvature and the current vehicle speed is less than a preset threshold vehicle speed.

[0139] In one embodiment, the shortest distance determination module 42 includes:

[0140] The coordinate determination unit is used to determine the position coordinates of the vehicle reference position in the direction of vehicle offset within the early warning judgment reference area;

[0141] The tangent determination unit is used to determine a first lane line point on the lane line that has the same vertical coordinate as the position coordinate of the vehicle reference position, and to determine the first tangent of the lane line at the first lane line point.

[0142] The shortest distance determination unit is used to determine the first shortest distance between the vehicle reference position and the first tangent as the shortest distance.

[0143] In one embodiment, when the warning judgment reference area is the predicted vehicle position, the coordinate determination unit includes:

[0144] The first coordinate determination unit is used to determine the current lateral coordinates and current longitudinal coordinates of the vehicle reference position at the current vehicle position;

[0145] The information determination unit is used to determine the turning angle, lateral movement distance, and longitudinal movement distance by multiplying the yaw angle, lateral velocity, and longitudinal velocity by the preset prediction time, respectively.

[0146] The numerical determination unit is used to determine the sum of the current horizontal coordinate and the horizontal movement distance as the first value, and to determine the sum of the current vertical coordinate and the vertical movement distance as the second value.

[0147] The lateral coordinate determination unit is used to take the product of the first value and the cosine of the turning angle plus the product of the second value and the sine of the turning angle as the lateral coordinate of the position coordinate.

[0148] The longitudinal coordinate determination unit is used to subtract the product of the first value and the sine of the turning angle from the product of the second value and the cosine of the turning angle as the longitudinal coordinate of the position coordinate.

[0149] In one embodiment, when the warning judgment reference area is the current vehicle position, the coordinate determination unit includes:

[0150] The second coordinate determination unit is used to determine the current lateral and longitudinal coordinates of the vehicle reference position as the position coordinates of the vehicle reference position.

[0151] In one embodiment, the vehicle location determination module 43 includes:

[0152] The threshold extraction unit is used to extract the preset inner boundary threshold and preset outer boundary threshold corresponding to the inner and outer positions, and to determine the relationship between the shortest distance and the preset inner boundary threshold and the preset outer boundary threshold, respectively.

[0153] The first position determination unit is used to confirm that the vehicle is located inside the lane line when the shortest distance is less than the preset inner boundary threshold.

[0154] The second position determination unit is used to confirm that the vehicle is located in the boundary area of ​​the lane line when the shortest distance is greater than the preset inner boundary threshold and less than the preset outer boundary threshold.

[0155] The third position determination unit is used to confirm that the vehicle is located outside the lane line when the shortest distance is greater than the preset outer boundary threshold.

[0156] In one embodiment, the offset warning generation module 44 includes:

[0157] The first warning generation unit is used to determine that when the vehicle is located inside the lane line, the first warning strategy is not to generate a lane departure warning.

[0158] The second warning generation unit is used to extract the second warning strategy and generate a lane departure warning when the vehicle is located in the boundary area of ​​the lane line.

[0159] The third warning generation unit is used to determine the inner and outer positions. When the vehicle is located outside the lane line, the third warning strategy is extracted to suppress lane departure warning.

[0160] The lane departure warning device provided in this embodiment of the invention can execute the lane departure warning method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0161] Example 5

[0162] Figure 6 This is a schematic diagram of the structure of an electronic device 10 implementing the lane departure warning method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0163] like Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0164] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0165] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as lane departure warning methods.

[0166] In some embodiments, the lane departure warning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the lane departure warning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the lane departure warning method by any other suitable means (e.g., by means of firmware).

[0167] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0168] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0169] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0170] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0171] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0172] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0173] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0174] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A lane departure warning method, characterized in that, include: The warning judgment benchmark area is determined based on vehicle motion information and lane line information of the lane line in the direction of vehicle deviation. Determine the shortest distance between the vehicle reference position and the lane line in the vehicle offset direction within the warning judgment reference area; The vehicle's position inside or outside the lane line is determined based on the shortest distance. A lane departure warning is generated based on the warning strategy corresponding to the internal and external positions; The step of determining the warning judgment benchmark area based on vehicle motion information and lane line information in the vehicle's deviating direction includes: A coordinate system is established with the center of the front bumper of the vehicle as the origin, with the vehicle's driving direction as the horizontal axis and the vehicle's lateral direction as the vertical axis. Lane line equations are generated by fitting the lane lines according to the vehicle's offset direction. The lane line slope and lane line curvature are determined according to the lane line equation and used as the lane line information. The vehicle's yaw angle, lateral velocity, longitudinal velocity, and current speed are collected as the vehicle's motion information. When the lane curvature is greater than a preset threshold lane curvature or the current vehicle speed is greater than a preset threshold vehicle speed, the warning judgment reference area is determined as the predicted vehicle position. When the lane curvature is less than a preset threshold lane curvature and the current vehicle speed is less than a preset threshold vehicle speed, the warning judgment reference area is determined as the current vehicle position. Wherein, determining the shortest distance between the vehicle reference position in the vehicle offset direction and the lane line within the warning judgment reference area includes: Determine the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area; A first lane line point is determined on the lane line, which has the same vertical coordinate as the position coordinate of the vehicle reference position. A first tangent line of the lane line is determined at the first lane line point. The first shortest distance between the vehicle's reference position and the first tangent is determined as the shortest distance.

2. The method according to claim 1, characterized in that, When the warning judgment reference area is the predicted vehicle position, determining the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area includes: Determine the current lateral and longitudinal coordinates of the vehicle reference position at the current vehicle location; The turning angle, lateral movement distance, and longitudinal movement distance are respectively calculated by multiplying the yaw angle, the lateral velocity, and the longitudinal velocity by the preset prediction time. The sum of the current horizontal coordinate and the horizontal movement distance is determined as a first value, and the sum of the current vertical coordinate and the vertical movement distance is determined as a second value; The product of the first value and the cosine of the turning angle, plus the product of the second value and the sine of the turning angle, is used as the lateral coordinate of the position coordinate. The product of the second value and the cosine of the turning angle, minus the product of the first value and the sine of the turning angle, is used as the vertical coordinate of the position coordinate.

3. The method according to claim 1, characterized in that, When the warning judgment reference area is the current vehicle position, determining the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area includes: The current lateral and longitudinal coordinates of the vehicle reference position are determined as the position coordinates of the vehicle reference position.

4. The method according to claim 1, characterized in that, Determining the vehicle's position inside or outside the lane line based on the shortest distance includes: Extract the preset inner boundary threshold and preset outer boundary threshold corresponding to the inner and outer positions, and determine the relationship between the shortest distance and the preset inner boundary threshold and the preset outer boundary threshold, respectively; When the shortest distance is less than the preset inner boundary threshold, it is confirmed that the vehicle is located inside the lane line; When the shortest distance is greater than the preset inner boundary threshold and less than the preset outer boundary threshold, it is confirmed that the vehicle is located in the boundary area of ​​the lane line. When the shortest distance is greater than the preset outer boundary threshold, it is confirmed that the vehicle is located outside the lane line.

5. The method according to claim 1, characterized in that, The process of generating a lane departure warning based on the warning strategy corresponding to the inner and outer positions includes: When the inner and outer positions are determined to be the vehicle being inside the lane lines, the first warning strategy is to not generate a lane departure warning. When the inner and outer positions are determined to be the boundary area of ​​the lane line, the second warning strategy is extracted to generate a lane departure warning. When the vehicle is determined to be outside the lane line, a third warning strategy is extracted to suppress lane departure warning.

6. A lane departure warning device, characterized in that, include: The reference area determination module is used to determine the warning judgment reference area based on vehicle motion information and lane line information of the lane line in the vehicle's deviating direction. The shortest distance determination module is used to determine the shortest distance between the vehicle reference position in the vehicle offset direction and the lane line within the warning judgment reference area; The vehicle position determination module is used to determine the position of the vehicle inside or outside the lane line based on the shortest distance. Lane departure warning generation module is used to generate lane departure warnings based on the warning strategies corresponding to the inner and outer positions; The reference region determination module includes: The coordinate system establishment unit is used to establish a coordinate system with the center of the front bumper of the vehicle as the origin. The coordinate system takes the driving direction of the vehicle as the horizontal axis and the lateral direction of the vehicle as the vertical axis. An equation determination unit is used to generate a lane line equation by fitting the lane line according to the lane line in the vehicle offset direction; The lane line information determination unit is used to determine the lane line slope and lane line curvature as the lane line information according to the lane line equation. The information acquisition unit is used to collect the vehicle's yaw angle, lateral velocity, longitudinal velocity, and current vehicle speed as the vehicle's motion information. The first reference area determination unit is used to determine the warning judgment reference area as the predicted vehicle position when the lane line curvature is greater than a preset threshold lane line curvature or the current vehicle speed is greater than a preset threshold vehicle speed. The second reference area determination unit is used to determine the warning judgment reference area as the current vehicle position when the lane line curvature is less than a preset threshold lane line curvature and the current vehicle speed is less than a preset threshold vehicle speed. The shortest distance determination module includes: The coordinate determination unit is used to determine the position coordinates of the vehicle reference position in the vehicle offset direction within the warning judgment reference area; A tangent determination unit is used to determine a first lane line point on the lane line that has the same vertical coordinate as the position coordinates of the vehicle reference position, and to determine a first tangent of the lane line at the first lane line point. The shortest distance determination unit is used to determine the first shortest distance between the vehicle reference position and the first tangent as the shortest distance.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the lane departure warning method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the lane departure warning method according to any one of claims 1-5.

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