Lane departure warning method, system and vehicle

Abstract

The present application relates to the technical field of vehicle auxiliary driving, and provides a lane departure warning method, a system and a vehicle, wherein road information of a current road is collected in real time from a road side unit; vehicle position information is acquired, and a current driving lane of the vehicle is determined in combination with the road information; vehicle driving information is acquired, and it is judged whether the vehicle departs from the current driving lane, and if so, lane departure warning is performed.The present application collects road information of a current road in real time from a road side unit based on existing road infrastructure, acquires vehicle position information of the vehicle according to navigation, performs blind positioning, and determines the current driving lane of the vehicle; and then, whether lane departure occurs is judged in real time according to the acquired vehicle driving information, and precise lane departure warning can be realized even when the visibility of the environment is poor by combining V2X communication technology with navigation positioning, so that driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle driver assistance technology, and in particular to a lane departure warning method, system and vehicle. Background Technology

[0002] According to statistics from the World Health Organization and the Ministry of Transport, approximately 50% of car accidents are caused by vehicles deviating from their lanes. The main reasons for this are driver distraction, lack of concentration, or driver fatigue. Specifically, 23% of car drivers have fallen asleep at the steering wheel at least once a month; 66% of truck drivers have dozed off while driving; and 28% of truck drivers have experienced falling asleep at the steering wheel within a month. These alarming figures underscore the critical importance of preventing lane departure.

[0003] Currently, lane departure warning systems from various manufacturers are developed based on visual (camera) data collection. Cameras (usually mounted on the side of the vehicle or in the rearview mirror) constantly capture the lane markings, processing the image to obtain the car's position parameters within the lane. When a vehicle deviates from its lane, sensors collect vehicle data and driver input, and the controller then issues an alert. However, in rainy, snowy, or low-visibility conditions, the accuracy of lane marking data collection decreases, severely impacting the lane departure warning system and potentially leading to accidents. Specifically, existing lane departure warning systems suffer from poor accuracy due to the following factors:

[0004] 1. The accuracy of lane marking data collection will decrease in rainy or snowy weather or on roads with low visibility.

[0005] 2. The lane markings on the road surface are blurry, which affects the camera's data collection.

[0006] 3. A large truck is blocking the view in front of this vehicle, affecting the camera's ability to collect lane line information.

[0007] 4. In the dark, the performance of the camera will be greatly reduced, which will affect the collection of lane markings. Summary of the Invention

[0008] This invention provides a lane departure warning method, system, and vehicle, which solves the technical problem that the accuracy of existing lane departure warning systems is poor due to factors such as environmental visibility.

[0009] To solve the above technical problems, the present invention provides a lane departure warning method, comprising:

[0010] Real-time road information is collected from roadside units.

[0011] Obtain vehicle location information and determine the vehicle's current driving lane by combining the road information;

[0012] Obtain vehicle driving information and determine whether the vehicle has deviated from the current driving lane. If so, issue a lane departure warning.

[0013] In a further implementation, the real-time acquisition of current road information from the route unit includes:

[0014] The roadside unit broadcasts real-time road information to surrounding vehicles;

[0015] The vehicle uses V2X communication technology to receive road information broadcast by the roadside unit in real time;

[0016] The road information includes one or more of the following: the number of lanes, lane width, and lane latitude and longitude map.

[0017] This solution utilizes roadside units to broadcast road information, accurately sending data to passing vehicles and improving the accuracy of lane departure warnings by using precise road information.

[0018] In a further implementation, obtaining vehicle location information specifically means: obtaining the vehicle's location information in real time from the GNSS device.

[0019] This solution uses GNSS equipment for vehicle positioning, which offers high observation accuracy, good anti-interference capabilities, and strong confidentiality.

[0020] In a further implementation, determining the vehicle's current lane includes:

[0021] A. Determine the lane latitude and longitude map of the vehicle at the current time point from the road information;

[0022] B. Determine the vehicle's location coordinates based on the vehicle's location information, and extract road data for the vehicle's forward direction from the lane latitude and longitude map;

[0023] C. Based on the road data and positioning coordinates, calculate the positional relationship between each lane and the vehicle, and then determine the current driving lane of the vehicle.

[0024] This solution directly obtains the latitude and longitude map of the vehicle's lane from road information, then compares it with GPS positioning information to determine the road data in its forward direction, calculates the lane position relationship, and identifies the vehicle's actual driving lane through data judgment. It does not require the collection of environmental information, so it is not affected by the external environment and has high lane departure stability.

[0025] In a further implementation, the road data includes latitude and longitude data describing each virtual point on the driving road, with each virtual point on each lane located on the centerline of the corresponding lane.

[0026] This solution extracts the latitude and longitude data of each virtual point on the road from the road information broadcast by the roadside unit, determines the positional relationship, and provides accurate positioning and high data accuracy, while facilitating data collection.

[0027] In a further embodiment, step C includes the following steps:

[0028] C1. Based on the positioning coordinates and the road data, obtain the latitude and longitude coordinates of the virtual point closest to the vehicle on each lane;

[0029] C2. Based on the positioning coordinates and the latitude and longitude coordinates, calculate the lateral distance and longitudinal distance of each virtual point relative to the vehicle;

[0030] C3. Compare and filter the longitudinal distance of each virtual point with the first deviation threshold to determine whether the virtual point meets the longitudinal range condition.

[0031] C4. Traverse the lateral distances of the virtual points that satisfy the longitudinal range condition, and determine the lane corresponding to the virtual point with the smallest lateral distance as the current driving lane.

[0032] This scheme first identifies the virtual point closest to the vehicle in each lane, using the virtual point to represent the lane for positional relationship determination, and calculates the lateral and longitudinal distances between each virtual point and the vehicle. The longitudinal distance of the virtual point is then compared with a first deviation threshold to filter out interference items that are too far away. Finally, the lane corresponding to the virtual point with the smallest lateral distance is determined as the current driving lane. The actual driving lane is further determined based on the distance, resulting in high lane recognition accuracy.

[0033] In a further embodiment, step C2 includes the following steps:

[0034] A vehicle coordinate system is established with the vehicle's stated positioning coordinates as the origin O, the forward direction as the Y-axis, and the horizontal direction as the X-axis.

[0035] Convert the latitude and longitude coordinates of each virtual point into vehicle body coordinates;

[0036] Based on the coordinates of the virtual points after coordinate system transformation, calculate the horizontal and vertical distances between each virtual point and the origin O.

[0037] In a further implementation, determining whether the vehicle has deviated from the current driving lane includes:

[0038] The system periodically calculates the deviation distance between the vehicle and the lane lines in the current lane, and determines whether the deviation distance is greater than the deviation threshold. If so, it is determined that the vehicle has deviated from the current driving lane.

[0039] Based on existing road infrastructure, this invention collects real-time road information from roadside units, obtains the vehicle's location information based on navigation, performs line-of-sight positioning, and determines the vehicle's current lane. Then, based on the obtained vehicle driving information, it judges in real time whether lane departure has occurred. By combining V2X communication technology with navigation and positioning, it can achieve accurate lane departure warnings even in environments with poor visibility, thereby improving driving safety.

[0040] This invention provides a lane departure warning system for implementing the aforementioned lane departure warning method, comprising an on-board ECU and a communication module, a GNSS device, an alarm module, a data acquisition module, and a storage module connected thereto;

[0041] The communication module is used to receive road information broadcast by the roadside unit in real time using V2X communication technology;

[0042] The GNSS device is used to obtain the vehicle's location information;

[0043] The vehicle-mounted ECU is used to determine the current driving lane of the vehicle based on the vehicle location information and the road information;

[0044] The acquisition module is used to obtain vehicle driving information;

[0045] The on-board ECU is also used to determine whether the vehicle has deviated from the current driving lane based on the vehicle driving information;

[0046] The alarm module is used to perform lane departure warning;

[0047] The storage module is used for data storage.

[0048] This invention includes a communication module, a GNSS device, an alarm module, a data acquisition module, and a storage module connected to the vehicle's ECU. These modules collect data and provide lane departure warnings, improving the vehicle's driver assistance system. This effectively assists drivers in making correct driving decisions, reduces traffic accidents, and significantly enhances driving safety.

[0049] This invention employs various modules to implement each step in the lane departure warning method, providing a hardware foundation for the lane departure warning method and facilitating its implementation.

[0050] This invention provides a vehicle, comprising:

[0051] One or more processors;

[0052] Memory, used to store one or more programs;

[0053] When the one or more programs are executed by the one or more processors, the one or more processors implement the lane departure warning method described above. Attached Figure Description

[0054] Figure 1 This is a flowchart of a lane departure warning method provided in Embodiment 1 of the present invention;

[0055] Figure 2 This is a schematic diagram of virtual points corresponding to the road data provided in Embodiment 1 of the present invention;

[0056] Figure 3 This is a schematic diagram of the vehicle body coordinate system provided in Embodiment 1 of the present invention;

[0057] Figure 4 This is a connection diagram of a lane departure warning system provided in Embodiment 2 of the present invention. Detailed Implementation

[0058] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the present invention. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0059] Example 1

[0060] This invention provides a lane departure warning method and system, such as... Figure 1 As shown, in this embodiment, it includes:

[0061] Real-time road information is collected from the Road Side Unit (RSU), including:

[0062] The roadside unit broadcasts real-time road information to surrounding vehicles;

[0063] The vehicle uses V2X communication technology to receive road information broadcast by the roadside unit in real time;

[0064] The road information includes one or more of the following: the number of lanes, lane width, and lane latitude and longitude map.

[0065] This embodiment utilizes roadside units to broadcast road information, accurately sending data to passing vehicles and improving the accuracy of lane departure warnings by using accurate road information.

[0066] Obtain vehicle location information and determine the vehicle's current driving lane by combining the road information;

[0067] In this embodiment, obtaining vehicle location information specifically means: obtaining the vehicle's location information in real time from the GNSS device.

[0068] This embodiment uses GNSS equipment for vehicle positioning, which has high observation accuracy, good anti-interference ability, and strong confidentiality.

[0069] Obtain vehicle driving information and determine whether the vehicle has deviated from the current driving lane. If so, issue a lane departure warning.

[0070] In this embodiment, determining the current driving lane of the vehicle includes steps A to C:

[0071] A. Determine the lane latitude and longitude map of the vehicle at the current time point from the road information;

[0072] B. Determine the vehicle's location coordinates based on the vehicle's location information, and extract road data for the vehicle's forward direction from the lane latitude and longitude map;

[0073] In this embodiment, the road data includes latitude and longitude data describing each virtual point on the driving road, and each virtual point on each lane is located on the centerline of the corresponding lane. That is, each virtual point is a latitude and longitude coordinate point representing the lane, which can be directly obtained from the roadside unit. Therefore, the number and spacing of virtual points on different lanes are not necessarily the same.

[0074] This embodiment extracts the latitude and longitude data of each virtual point on the road from the road information broadcast by the roadside unit, determines the positional relationship, and achieves accurate positioning and high data accuracy, while facilitating data collection.

[0075] C. Based on the road data and positioning coordinates, calculate the positional relationship between each lane and the vehicle, and then determine the vehicle's current driving lane. See [link to relevant documentation]. Figure 2 This includes steps C1 to C4:

[0076] C1. Based on the positioning coordinates and the road data, obtain the latitude and longitude coordinates of the virtual point closest to the vehicle on each lane;

[0077] C2. Based on the positioning coordinates and the latitude and longitude coordinates, calculate the lateral and longitudinal distances of each virtual point relative to the vehicle. (See [reference]) Figure 3 The steps include:

[0078] A vehicle coordinate system is established with the vehicle's stated positioning coordinates as the origin O, the forward direction as the Y-axis, and the horizontal direction as the X-axis.

[0079] Convert the latitude and longitude coordinates of each virtual point into vehicle body coordinates;

[0080] Based on the coordinates of the virtual points after coordinate system transformation, calculate the horizontal and vertical distances between each virtual point and the origin O.

[0081] C3. Compare and filter the longitudinal distance of each virtual point with the first deviation threshold to determine whether the virtual point meets the longitudinal range condition.

[0082] C4. Traverse the lateral distances of the virtual points that satisfy the longitudinal range condition, and determine the lane corresponding to the virtual point with the smallest lateral distance as the current driving lane.

[0083] In this embodiment, the longitudinal range condition is met when the longitudinal distance is less than the first deviation threshold. The first deviation threshold can be set according to the actual application environment (e.g., positioning accuracy) or obtained through iterative learning.

[0084] This embodiment first determines the virtual point closest to the vehicle in each lane, uses the virtual point to represent the lane to determine the positional relationship, and calculates the lateral and longitudinal distances between each virtual point and the vehicle. The longitudinal distance of the virtual point is first compared with a first deviation threshold to filter out interference items that are far away. Then, the lane corresponding to the virtual point with the smallest lateral distance is determined as the current driving lane. The actual driving lane is further determined by the distance, resulting in high lane recognition accuracy.

[0085] In this embodiment, determining whether the vehicle has deviated from the current driving lane includes:

[0086] The system periodically calculates the deviation distance between the vehicle and the lane lines in the current lane, and determines whether the deviation distance is greater than the deviation threshold. If so, it is determined that the vehicle has deviated from the current driving lane.

[0087] The calculation interval for the deviation distance value can be customized according to the driving speed or the driving section, for example, 100 milliseconds on a highway.

[0088] Alternatively, the angle between the heading angle and the center of the lane can be periodically checked to determine whether the angle is greater than the deviation threshold and whether the vehicle has deviated from the current driving lane.

[0089] In other embodiments, deviation levels can be set as needed, and different deviation thresholds and corresponding alarm methods can be set according to the deviation levels.

[0090] This embodiment directly obtains the latitude and longitude map of the lane where the vehicle is located from the road information, and then compares it with the GPS positioning information to determine the road data in its forward direction, calculates the lane position relationship, and identifies the actual driving lane of the vehicle through data judgment. There is no need to collect environmental information, so it is not affected by the external environment and has high lane deviation stability.

[0091] For example, see 3 lanes. Figure 2 In this embodiment, the process for determining the current driving lane is as follows:

[0092] The first step is to obtain the current road information from the roadside unit;

[0093] The second step is to use a GNSS device to locate and obtain the vehicle's coordinates.

[0094] The third step is to compare road information with positioning coordinates and filter out road data for the vehicle's direction of travel from the road information.

[0095] The fourth step is to obtain the virtual points (P1, P2, P3) on each lane that are closest to the vehicle in longitudinal distance from the road data, and then obtain the latitude and longitude coordinates of the target virtual points.

[0096] Step 5: Establish a vehicle coordinate system with the vehicle as the origin O, the forward direction as the Y-axis, and the horizontal direction as the X-axis;

[0097] Step 6: Calculate the coordinates of each target virtual point in the vehicle body coordinate system to obtain P1(x1,y1), P2(x2,y2), and P3(x3,y3);

[0098] Step 7: Determine whether y1 / y2 / y3 are less than the first deviation threshold. If yes, proceed to the next step; otherwise, discard the corresponding target virtual point.

[0099] Step 8: Compare the values ​​of x1, x2, and x3. If the value of x2 is the smallest, then the lane corresponding to P2 is the current driving lane.

[0100] Based on existing road infrastructure, this invention collects real-time road information from roadside units, obtains the vehicle's location information based on navigation, performs line-of-sight positioning, and determines the vehicle's current lane. Then, based on the obtained vehicle driving information, it judges in real time whether lane departure has occurred. By combining V2X communication technology with navigation and positioning, it can achieve accurate lane departure warnings even in environments with poor visibility, thereby improving driving safety.

[0101] Example 2

[0102] The reference numerals in the accompanying drawings of the embodiments of the present invention include: vehicle ECU 1, communication module 2, GNSS device 3, alarm module 4, acquisition module 5, storage module 6, and roadside unit 7.

[0103] This invention provides a lane departure warning system, see [link to relevant documentation]. Figure 4 The method is applied to implement a lane departure warning method in the above embodiments, including an on-board ECU1 and a communication module 2, a GNSS device 3, an alarm module 4, a data acquisition module 5 and a storage module 6 connected thereto;

[0104] The communication module 2 is used to receive road information broadcast by the roadside unit in real time using V2X communication technology;

[0105] The GNSS device 3 is used to obtain the vehicle's location information;

[0106] The on-board ECU1 is used to determine the current driving lane of the vehicle based on the vehicle location information and the road information;

[0107] The acquisition module 4 is used to acquire vehicle driving information, including vehicle heading angle, speed and driving time.

[0108] The on-board ECU1 is also used to determine whether the vehicle has deviated from the current driving lane based on the vehicle driving information;

[0109] The alarm module 4 is used to perform lane departure warning, including one or more of voice warning and display warning.

[0110] The storage module 6 is used for data storage.

[0111] This invention includes a communication module 2, a GNSS device 3, an alarm module 4, a data acquisition module 5, and a storage module 6 connected to the vehicle ECU 1. These components are used for data acquisition and lane departure warning, improving the vehicle's driver assistance system. This effectively assists the driver in making correct driving decisions, reduces traffic accidents, and greatly enhances driving safety.

[0112] This invention employs various modules to implement each step in the lane departure warning method, providing a hardware foundation for the lane departure warning method and facilitating its implementation.

[0113] Example 3

[0114] This invention provides a vehicle, comprising:

[0115] One or more processors;

[0116] Memory, used to store one or more programs;

[0117] When the one or more programs are executed by the one or more processors, the one or more processors implement the lane departure warning method provided in Embodiment 1 above.

[0118] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A lane departure warning method, characterized in that, include: Real-time road information is collected from roadside units. Obtain vehicle location information and determine the vehicle's current driving lane by combining the road information; Obtain vehicle driving information, determine whether the vehicle has deviated from the current driving lane, and if so, issue a lane departure warning. Determining the current lane of the vehicle includes: A. Determine the lane latitude and longitude map of the vehicle at the current time point from the road information; B. Determine the vehicle's location coordinates based on the vehicle's location information, and extract road data for the vehicle's forward direction from the lane latitude and longitude map; C. Based on the road data and positioning coordinates, calculate the positional relationship between each lane and the vehicle, and then determine the current driving lane of the vehicle; The road data includes latitude and longitude data describing each virtual point on the driving road, and each virtual point on each lane is located on the center line of the corresponding lane. Step C includes the following steps: C1. Based on the positioning coordinates and the road data, obtain the latitude and longitude coordinates of the virtual point closest to the vehicle on each lane; C2. Based on the positioning coordinates and the latitude and longitude coordinates, calculate the lateral distance and longitudinal distance of each virtual point relative to the vehicle; C3. Compare and filter the longitudinal distance of each virtual point with the first deviation threshold to determine whether the virtual point meets the longitudinal range condition. C4. Traverse the lateral distances of the virtual points that satisfy the longitudinal range condition, and determine the lane corresponding to the virtual point with the smallest lateral distance as the current driving lane.

2. The lane departure warning method as described in claim 1, characterized in that, The real-time acquisition of road information from the route unit includes: The roadside unit broadcasts real-time road information to surrounding vehicles; The vehicle uses V2X communication technology to receive road information broadcast by the roadside unit in real time; The road information includes one or more of the following: the number of lanes, lane width, and lane latitude and longitude map.

3. The lane departure warning method as described in claim 1, characterized in that, The specific method for obtaining vehicle location information is to obtain the vehicle's location information in real time from the GNSS device.

4. The lane departure warning method as described in claim 1, characterized in that, Step C2 includes the following steps: A vehicle coordinate system is established with the vehicle's stated positioning coordinates as the origin O, the forward direction as the Y-axis, and the horizontal direction as the X-axis. Convert the latitude and longitude coordinates of each virtual point into vehicle body coordinates; Based on the coordinates of the virtual points after coordinate system transformation, calculate the horizontal and vertical distances between each virtual point and the origin O.

5. The lane departure warning method as described in claim 1, characterized in that, The determination of whether the vehicle has deviated from the current driving lane includes: The system periodically calculates the deviation distance between the vehicle and the lane lines in the current lane, and determines whether the deviation distance is greater than the deviation threshold. If so, it is determined that the vehicle has deviated from the current driving lane.

6. A lane departure warning system, used to implement a lane departure warning method as described in any one of claims 1 to 5, characterized in that: This includes the vehicle ECU and its connected communication module, GNSS device, alarm module, data acquisition module, and storage module; The communication module is used to receive road information broadcast by the roadside unit in real time using V2X communication technology; The GNSS device is used to obtain the vehicle's location information; The vehicle-mounted ECU is used to determine the current driving lane of the vehicle based on the vehicle location information and the road information; The acquisition module is used to obtain vehicle driving information; The on-board ECU is also used to determine whether the vehicle has deviated from the current driving lane based on the vehicle driving information; The alarm module is used to perform lane departure warning; The storage module is used for data storage.

7. A vehicle, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the lane departure warning method as described in any one of claims 1 to 5.

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