Lane departure detection method, device, apparatus and storage medium

Abstract

The application discloses a lane departure detection method, device, equipment and storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: collecting lane line parameters and vehicle driving parameters in the driving process of the vehicle; fitting the lane line parameters and the vehicle driving parameters to obtain the distance between the vehicle body part of the vehicle and the lane line; in response to the distance between the vehicle body part of the vehicle and the lane line being smaller than a reference distance, obtaining a detection result, the detection result being used to indicate whether the turn signal corresponding to the vehicle departure direction is turned on; in response to the detection result indicating that the turn signal corresponding to the vehicle departure direction is not turned on, obtaining the torque of the steering wheel of the vehicle; and in response to the torque of the steering wheel being smaller than or equal to a reference torque, determining that the vehicle has lane departure in the case that the driver is unconscious. Thus, the driver can be reminded when the driver is unconscious and causes lane departure, the vehicle can be prevented from continuously deviating from the lane and causing danger in the case that the driver is unconscious, and the safety of driving is ensured.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus, device, and storage medium for detecting lane departure. Background Technology

[0002] When a vehicle is traveling on the road, it can easily cause danger if it deviates from its lane without the driver's awareness. Knowing how to determine whether a lane departure is intentional or unintentional, and how to alert the driver when the departure is unintentional, is crucial for ensuring driving safety. Summary of the Invention

[0003] This application provides a lane departure detection method, apparatus, device, and storage medium, which can be used to determine whether the driver is intentionally or unintentionally deviating from the lane, and to alert the driver when the driver is unintentionally deviating from the lane. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a lane departure detection method, the method comprising:

[0005] Collect lane line parameters and vehicle driving parameters during vehicle operation;

[0006] The distance between the vehicle body and the lane line is obtained by fitting the lane line parameters and the vehicle driving parameters.

[0007] In response to the distance between the vehicle body and the lane line being less than a reference distance, a detection result is obtained, and the detection result is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on;

[0008] In response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on, the torque of the vehicle's steering wheel is obtained;

[0009] In response to the steering wheel torque being less than or equal to a reference torque, it is determined that the vehicle has deviated from its lane without the driver's knowledge.

[0010] On the other hand, a lane departure detection device is provided, the device comprising:

[0011] The data acquisition module is used to collect lane line parameters and vehicle driving parameters during vehicle operation.

[0012] The fitting module is used to fit the lane line parameters and the vehicle driving parameters to obtain the distance between the vehicle body and the lane line.

[0013] The first acquisition module is used to acquire a detection result in response to the distance between the vehicle body and the lane line being less than a reference distance. The detection result is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on.

[0014] The second acquisition module is used to acquire the steering wheel torque of the vehicle in response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on.

[0015] A determination module is used to determine that the vehicle has deviated from its lane without the driver's knowledge, in response to the steering wheel torque being less than or equal to a reference torque.

[0016] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the lane departure detection methods described above.

[0017] On the other hand, a non-transitory computer-readable storage medium is also provided, wherein at least one computer program is stored in the computer-readable storage medium, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the lane departure detection methods described above.

[0018] On the other hand, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform any of the lane departure detection methods described above.

[0019] The technical solution provided in this application brings at least the following beneficial effects:

[0020] This application obtains the distance between the vehicle's body and the lane line by fitting lane line parameters and vehicle driving parameters, which is used to determine whether the vehicle has deviated from its lane. The distance between the vehicle's body and the lane line is then compared with a reference distance. If the distance is less than the reference distance, it indicates that the vehicle has deviated from its lane. The application also detects whether the turn signal corresponding to the direction of deviation is activated. If the turn signal is not activated, the steering wheel torque is measured. If the steering wheel torque is less than or equal to a reference torque, it is determined that the vehicle deviated from its lane without the driver's awareness. This information is used to provide subsequent warnings about lane departures, preventing the vehicle from continuing to deviate from its lane unknowingly and thus ensuring driving safety. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0023] Figure 2 This is a flowchart of a lane departure detection method provided in an embodiment of this application;

[0024] Figure 3 This is a block diagram of lane departure detection provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of a lane departure detection principle provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the structure of a lane departure detection device provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0028] This application provides a lane departure detection method. Please refer to [link / reference]. Figure 1 The diagram illustrates the implementation environment of the method provided in this application embodiment. This implementation environment may include: an autonomous driving domain controller 11, turn signals 12, a steering wheel 13, a camera 14, an accelerometer 15, a gyroscope 16, an ECU (Electronic Control Unit) 17, an audio system 18, and a display screen 19.

[0029] Optionally, the autonomous driving domain controller 11 collects lane line parameters and vehicle driving parameters during vehicle operation. Lane line parameters include the distance between points on the vehicle and the lane lines, the vehicle's heading angle, the curvature of the road where the vehicle is located, and the rate of change of road curvature. Specifically, the autonomous driving domain controller 11 acquires images of the left and right sides of the vehicle via camera 14 to calculate the distance between points on the vehicle and the lane lines. The lateral acceleration of the vehicle is measured via accelerometer 15, and the angular velocity of the vehicle is measured via gyroscope 16 to determine the vehicle's heading angle. Vehicle driving parameters include the vehicle's yaw rate, lateral acceleration, speed, and pedal parameters. Specifically, the autonomous driving domain controller 11 reads the vehicle's speed and pedal parameters from the vehicle's ECU 17 and calculates the vehicle's yaw rate based on the lateral acceleration and speed.

[0030] For example, the autonomous driving domain controller 11 fits lane line parameters and vehicle driving parameters to obtain the distance between the vehicle body and the lane line. In response to the distance between the vehicle body and the lane line being less than a reference distance, the autonomous driving domain controller 11 acquires a detection result indicating whether the turn signal 12 corresponding to the vehicle's deviation direction is activated. In response to the detection result indicating that the turn signal 12 corresponding to the vehicle's deviation direction is not activated, the autonomous driving domain controller 11 acquires the torque of the vehicle's steering wheel 13. In response to the torque of the steering wheel 13 being less than or equal to a reference torque, the autonomous driving domain controller 11 determines that the vehicle has deviated from its lane without the driver's knowledge.

[0031] In one possible implementation, after determining that the vehicle has deviated from its lane without the driver's knowledge, the autonomous driving domain controller 11 alerts the driver by at least one of the following: controlling the vehicle's audio system 18 to issue a voice warning, controlling the steering wheel 13 to vibrate, or adjusting the color of the lane line image displayed on the vehicle's display screen 19. The autonomous driving domain controller 11, turn signals 12, steering wheel 13, camera 14, accelerometer 15, gyroscope 16, ECU 17, audio system 18, and display screen 19 establish a communication connection via a wired or wireless network.

[0032] Based on the above Figure 1 The implementation environment shown in this application provides a lane departure detection method, such as... Figure 2 As shown, taking the application of this method to an autonomous driving domain controller as an example, the method includes steps 201-205.

[0033] In step 201, lane line parameters and vehicle driving parameters are collected during the vehicle's driving process.

[0034] In one possible implementation, lane line parameters include the distance between a point on the vehicle and the lane line, the vehicle's heading angle, the curvature of the road in which the vehicle is located, and the rate of change of road curvature. Vehicle driving parameters include the vehicle's yaw rate, lateral acceleration, speed, and pedal parameters.

[0035] Next, examples will be given to illustrate how to obtain the parameters for each lane line.

[0036] (1) The distance between a point on the vehicle and the lane line

[0037] For example, acquiring the distance between various points on the vehicle body and the nearest point on the lane line includes: the autonomous driving domain controller acquiring images of the left and right sides of the vehicle through cameras installed on the vehicle, preprocessing the acquired images to obtain preprocessed images. For example, at least one of denoising, grayscale conversion, or image enhancement is performed on the image. Then, the lane line in the preprocessed image is determined using the Canny algorithm (an edge detection algorithm) or the HSV color space (a color segmentation algorithm). After determining the lane line in the preprocessed image, the pixel distance between points on the vehicle and the lane line is calculated. Then, the actual distance between points on the vehicle and the lane line is calculated using the pixel distance, the camera's intrinsic parameters, and the camera's extrinsic parameters. The calculated actual distance is used as the distance between points on the vehicle and the lane line.

[0038] (2) Vehicle heading angle

[0039] Optionally, the vehicle's heading angle can be measured using accelerometers and gyroscopes installed on the vehicle. For example, the lateral acceleration of the vehicle is measured using an accelerometer, and then the lateral tilt angle is calculated from the lateral acceleration. The angular velocity of the vehicle is measured using a gyroscope. The lateral tilt angle detected by the accelerometer and the angular velocity calculated by the gyroscope are fused to obtain the vehicle's heading angle. The fusion method includes, but is not limited to, Kalman filtering and complementary filtering.

[0040] (3) The curvature of the road where the vehicle is located and the rate of change of the road curvature.

[0041] In one possible implementation, the Canny algorithm is used to determine the geometry of the road in the preprocessed image, and the road curvature is calculated based on this geometry. During vehicle movement, the curvature of multiple road segments is collected, and the rate of change of road curvature is calculated based on these segments.

[0042] Next, examples will be given to illustrate how to obtain the driving parameters for each vehicle.

[0043] (1) The yaw rate of the vehicle

[0044] For example, the autonomous driving domain controller can read the vehicle's speed from the vehicle's ECU via a bus, calculate the lateral acceleration measured by the accelerometer divided by the vehicle's speed, and use the result as the vehicle's yaw rate. Optionally, the bus can be a CAN (Controller Area Network) bus.

[0045] (2) Vehicle pedal parameters

[0046] The autonomous driving domain controller can read the vehicle's pedal parameters from the vehicle's ECU via the CAN bus.

[0047] In step 202, the lane line parameters and vehicle driving parameters are fitted to obtain the distance between the vehicle body and the lane line.

[0048] Optionally, the distance between the vehicle body and the lane line is obtained by fitting the lane line parameters and vehicle driving parameters, including: determining the distance between the vehicle body and the lane line based on the distance between points on the vehicle and the lane line, the vehicle's heading angle, the curvature of the road where the vehicle is located and the rate of change of road curvature, the vehicle's yaw rate, the vehicle's lateral acceleration, the vehicle's speed and the vehicle's pedal parameters; extracting the mode from the distances between the vehicle body and the lane line of the first reference number of vehicles, and using the mode as the distance between the vehicle body and the lane line.

[0049] In one possible implementation, the distances between points on the vehicle and lane lines, the vehicle's heading angle, the curvature of the road where the vehicle is located, the rate of change of curvature of the road where the vehicle is located, the vehicle's yaw rate, the vehicle's lateral acceleration, the vehicle's speed, and the vehicle's pedal parameters are input into a model that fits lane line parameters and vehicle driving parameters to obtain the distances between the body parts of a first reference number of vehicles and lane lines. The distance with the highest frequency among the distances between the body parts of the first reference number of vehicles and lane lines is extracted as the distance between the body parts of the vehicle and lane lines.

[0050] In one possible implementation, after obtaining the lane line parameters and vehicle driving parameters, a model is established to fit the lane line parameters and vehicle driving parameters before fitting them. For example, this model is trained using a second set of reference parameters, vehicle driving parameters, and the distance between the vehicle's body and the lane lines. The model's input is the lane line parameters and vehicle driving parameters, and its output is the distance between the vehicle's body and the lane lines corresponding to the lane line parameters and driving parameters. The second set of reference parameters can be determined based on actual conditions.

[0051] By extracting the mode from the distances between the vehicle body and the lane lines of a first reference number of vehicles as the distance between the vehicle body and the lane lines, the accuracy of the obtained distances between the vehicle body and the lane lines can be improved, thereby improving the accuracy of subsequent judgments on whether the vehicle has deviated from its lane.

[0052] In step 203, in response to the distance between the vehicle body and the lane line being less than a reference distance, a detection result is obtained, which is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on.

[0053] For example, after determining the distance between the vehicle's body and the lane line, this distance is compared to a reference distance. If the distance between the vehicle's body and the lane line is less than the reference distance, a detection result is obtained, and the second direction of the lane line where the distance to the vehicle's body is less than the reference distance is determined. The detection result indicates whether the turn signal corresponding to the vehicle's deviation direction is activated, and the second direction indicates the vehicle's deviation direction. Optionally, the reference distance can be set according to actual conditions; for example, it can be set to 20 centimeters.

[0054] In one possible implementation, obtaining a detection result for indicating whether a turn signal corresponding to a vehicle's deviation direction is on includes: obtaining the on / off status of the vehicle's turn signals; in response to the presence of an on turn signal, obtaining a first direction corresponding to the on turn signal; in response to a second direction where a lane line at a distance less than a reference distance from the vehicle body is located coincides with the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is on; in response to a second direction not coinciding with the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is not on. In another possible implementation, in response to the absence of an on turn signal, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is not on.

[0055] Optionally, the autonomous driving domain controller can read the turn signal activation status from the vehicle's ECU via the CAN bus. If a turn signal is active, the controller further determines the first direction in which the active turn signal is located. A second direction is compared with the first direction. If the second direction matches the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviated direction is active; if the second direction does not match the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviated direction is not active. If no turn signal is active, indicating that all turn signals are not active, the detection result indicates that the turn signal corresponding to the vehicle's deviated direction is not active.

[0056] By detecting whether the turn signal corresponding to the direction of lane departure is activated when the distance between the vehicle body and the lane line is less than the reference distance, it is possible to make a preliminary judgment on whether the driver is aware that the vehicle has deviated from its lane.

[0057] In step 204, in response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on, the torque of the vehicle's steering wheel is obtained.

[0058] Optionally, if the detection result indicates that the turn signal corresponding to the vehicle's deviation from the direction is not activated, the steering wheel torque of the vehicle is acquired, including: the autonomous driving domain controller acquiring the steering wheel torque of the vehicle through a torsion sensor installed on the vehicle's steering wheel. Exemplarily, the torsion sensor acquires the steering wheel torque of the vehicle, converts the torque into an electrical signal, and transmits it to the autonomous driving domain controller.

[0059] In step 205, in response to the steering wheel torque being less than or equal to the reference torque, it is determined that the vehicle has deviated from its lane without the driver's knowledge.

[0060] In one possible implementation, after acquiring the steering wheel torque, the steering wheel torque is compared with a reference torque. If the steering wheel torque is less than or equal to the reference torque, it is determined that the vehicle deviated from its lane without the driver's awareness. If the steering wheel torque is greater than the reference torque, it is determined that the vehicle steering was a conscious action by the driver. Optionally, the reference torque can be set as the maximum value among the steering wheel torques collected by the torsion sensor when the driver unconsciously places their hands on the steering wheel and does not turn it. For example, if the steering wheel torque is less than or equal to the reference torque, it indicates that the driver did not turn the steering wheel at this time, determining that the lane departure occurred unconsciously by the driver.

[0061] Optionally, after determining that the vehicle has deviated from its lane without the driver's awareness, the autonomous driving domain controller controls the vehicle to issue a warning message, wherein the warning message is used to alert the vehicle to the lane departure. In one possible implementation, the vehicle is alerted to the lane departure by at least one of issuing a voice warning message, changing the color of the image used to display lane lines, or controlling steering wheel vibration.

[0062] For example, issuing a voice warning message includes: controlling the vehicle's audio system to issue a voice warning message, the content of which may be: "The vehicle has deviated from its lane; please adjust the steering wheel." Controlling steering wheel vibration includes: controlling the steering wheel to vibrate at a reference frequency, optionally, the reference frequency can be set according to actual conditions. Changing the color of the image used to display lane lines includes: adjusting the color of the lane line image displayed on the vehicle's screen, for example, changing a black image to red, thereby alerting the driver that the vehicle has deviated from its lane.

[0063] This application embodiment obtains the distance between the vehicle body and the lane line by fitting lane line parameters and vehicle driving parameters. This distance is used to determine whether the vehicle has deviated from its lane. The distance between the vehicle body and the lane line is then compared with a reference distance. If the distance is less than the reference distance, it indicates that the vehicle has deviated from its lane. The system detects whether the turn signal corresponding to the direction of deviation is activated. If the turn signal is not activated, the steering wheel torque is measured. If the steering wheel torque is less than or equal to a reference torque, it is determined that the vehicle deviated from its lane without the driver's awareness. This is used to provide subsequent warnings for lane deviations, preventing the vehicle from continuing to deviate from its lane unknowingly and thus ensuring driving safety.

[0064] Combining the above methods and processes, with Figure 3 The following is an example of a lane departure detection block diagram provided in an embodiment of this application. The executing entity can be an autonomous driving domain controller. The data acquisition module 301 collects lane line parameters and vehicle driving parameters during vehicle operation. The judgment control module 302 then fits the lane line parameters and vehicle driving parameters to obtain the distance between the vehicle body and the lane line. If the distance between the vehicle body and the lane line is less than a reference distance, it determines whether the turn signal corresponding to the vehicle's departure direction is activated. If the turn signal corresponding to the vehicle's departure direction is not activated, the steering wheel torque is acquired. If the steering wheel torque is less than or equal to a reference torque, it is determined that the vehicle has deviated from its lane without the driver's awareness. The warning execution module 303 then issues a warning message to alert the vehicle that lane departure has occurred.

[0065] Combining the above methods and processes, with Figure 4The following is an example illustrating a lane departure detection principle diagram provided in an embodiment of this application. The executing entity can be an autonomous driving domain controller. Step 401: Collect and fit lane line parameters and vehicle driving parameters during vehicle movement. Step 402: In response to the distance between the vehicle body and the lane line being less than a reference distance, indicate that the vehicle has deviated from its lane. Step 403: Determine whether the turn signal corresponding to the direction of vehicle deviation is activated. If the turn signal corresponding to the direction of vehicle deviation is not activated, proceed to step 404; if the turn signal corresponding to the direction of vehicle deviation is activated, proceed to step 405. Step 404: Determine whether the steering wheel torque is less than or equal to a reference torque. Step 405: Determine that the vehicle steering was a conscious operation by the driver. After executing step 404, if the steering wheel torque is less than or equal to the reference torque, proceed to step 405; if the steering wheel torque is greater than the reference torque, proceed to step 406. Step 406: Determine that the vehicle deviated from its lane without the driver's knowledge.

[0066] See Figure 5 This application provides a lane departure detection device, which includes:

[0067] The data acquisition module 501 is used to acquire lane line parameters and vehicle driving parameters during vehicle operation.

[0068] The fitting module 502 is used to fit the lane line parameters and vehicle driving parameters to obtain the distance between the vehicle body and the lane line.

[0069] The first acquisition module 503 is used to acquire a detection result in response to the distance between the vehicle body and the lane line being less than a reference distance. The detection result is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on.

[0070] The second acquisition module 504 is used to acquire the steering wheel torque of the vehicle in response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on.

[0071] The determination module 505 is used to determine that the vehicle has deviated from its lane without the driver's knowledge in response to a steering wheel torque being less than or equal to a reference torque.

[0072] In one possible implementation, the lane line parameters include the distance between a point on the vehicle and the lane line, the vehicle's orientation angle, the curvature of the road where the vehicle is located, and the rate of change of road curvature; the vehicle driving parameters include the vehicle's yaw rate, the vehicle's lateral acceleration, the vehicle's speed, and the vehicle's pedal parameters; the fitting module 502 is used to determine the distance between a first reference number of vehicle body parts and the lane line based on the distance between a point on the vehicle and the lane line, the vehicle's orientation angle, the curvature of the road where the vehicle is located, the rate of change of road curvature, the vehicle's yaw rate, the vehicle's lateral acceleration, the vehicle's speed, and the vehicle's pedal parameters; and to extract the mode from the distances between the first reference number of vehicle body parts and the lane line, and use the mode as the distance between the vehicle body part and the lane line.

[0073] In one possible implementation, the first acquisition module 503 is used to acquire the on / off status of the vehicle's turn signals; in response to the presence of an on turn signal, it acquires the first direction corresponding to the on turn signal; in response to the second direction of a lane line whose distance from the vehicle body is less than a reference distance being consistent with the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is on; in response to the second direction being inconsistent with the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is not on.

[0074] In one possible implementation, the first acquisition module 503 is further configured to, in response to the absence of an active turn signal, indicate that the turn signal corresponding to the vehicle's deviation direction is not active.

[0075] In one possible implementation, the determining module 505 is also used to issue a warning message to alert the vehicle that it has deviated from its lane.

[0076] In one possible implementation, the determining module 505 is used to alert the vehicle to lane departure by at least one of issuing a voice warning message, changing the color of the image used to display lane lines, or controlling steering wheel vibration.

[0077] This device obtains the distance between the vehicle's body and the lane line by fitting lane line parameters and vehicle driving parameters. This distance is used to determine whether the vehicle has deviated from its lane. The distance between the vehicle's body and the lane line is then compared to a reference distance. If the distance is less than the reference distance, it indicates that the vehicle has deviated from its lane. The device also detects whether the turn signal corresponding to the direction of deviation is activated. If the turn signal is not activated, the device obtains the steering wheel torque. If the steering wheel torque is less than or equal to a reference torque, it confirms that the vehicle deviated from its lane without the driver's knowledge. This information is used to provide warnings for subsequent lane departures, preventing the vehicle from continuing to deviate from its lane unknowingly and thus ensuring driving safety.

[0078] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0079] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the lane departure detection methods described above.

[0080] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the lane departure detection methods described above.

[0081] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0082] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the lane departure detection methods described above.

[0083] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application are authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, lane line parameters, vehicle driving parameters, turn signal activation status, and steering wheel torque involved in this application were all obtained with full authorization.

[0084] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0085] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application 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 this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0086] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for detecting lane departure, characterized in that, The method includes: Collect lane line parameters and vehicle driving parameters during vehicle operation; The distance between the vehicle body and the lane line is obtained by fitting the lane line parameters and the vehicle driving parameters. In response to the distance between the vehicle body and the lane line being less than a reference distance, a detection result is obtained, and the detection result is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on; In response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on, the torque of the vehicle's steering wheel is obtained; In response to the steering wheel torque being less than or equal to a reference torque, it is determined that the vehicle has deviated from its lane without the driver's knowledge; The lane line parameters include the distance between a point on the vehicle and the lane line, the vehicle's heading angle, the curvature of the road where the vehicle is located, and the rate of change of road curvature; the vehicle driving parameters include the vehicle's yaw rate, lateral acceleration, speed, and pedal parameters; fitting the lane line parameters and driving parameters to obtain the distance between the vehicle's body and the lane line includes: The distance between the vehicle body and the lane line is determined based on the distance between the point on the vehicle and the lane line, the vehicle's orientation angle, the curvature of the road where the vehicle is located and the rate of change of the road's curvature, the vehicle's yaw rate, the vehicle's lateral acceleration, the vehicle's speed, and the vehicle's pedal parameters. Extract the mode of the distances between the vehicle body and the lane lines from the first reference number of vehicles, and use the mode as the distance between the vehicle body and the lane lines.

2. The method according to claim 1, characterized in that, The acquisition of detection results includes: Get the status of the vehicle's turn signals; In response to the presence of an activated turn signal, the first direction corresponding to the activated turn signal is obtained; In response to the second direction of a lane line whose distance from the vehicle body is less than the reference distance being consistent with the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is activated; In response to the inconsistency between the second direction and the first direction, the detection result indicates that the turn signal corresponding to the vehicle's deviation direction is not activated.

3. The method according to claim 2, characterized in that, After obtaining the vehicle's turn signal activation status, the method further includes: In response to the absence of the turn signal being activated, the detection result indicates that the turn signal corresponding to the vehicle's deviating direction is not activated.

4. The method according to claim 1, characterized in that, After determining that the vehicle has deviated from its lane without the driver's knowledge, the method of responding to a torque on the steering wheel being less than or equal to a reference torque further includes: A warning message is issued to alert the vehicle that it has deviated from its lane.

5. The method according to claim 4, characterized in that, The issuance of the warning information includes: The vehicle is alerted to lane departure by at least one of the following methods: issuing a voice warning, changing the color of the image used to display the lane lines, or controlling the vibration of the steering wheel.

6. A lane departure detection device, characterized in that, The device includes: The data acquisition module is used to collect lane line parameters and vehicle driving parameters during vehicle operation. The fitting module is used to fit the lane line parameters and the vehicle driving parameters to obtain the distance between the vehicle body and the lane line. The first acquisition module is used to acquire a detection result in response to the distance between the vehicle body and the lane line being less than a reference distance. The detection result is used to indicate whether the turn signal corresponding to the vehicle's deviation direction is turned on. The second acquisition module is used to acquire the steering wheel torque of the vehicle in response to the detection result indicating that the turn signal corresponding to the vehicle's deviation direction is not turned on. The determination module is used to determine that the vehicle has deviated from its lane without the driver's knowledge in response to the steering wheel torque being less than or equal to a reference torque; The lane line parameters include the distance between a point on the vehicle and the lane line, the vehicle's heading angle, the curvature of the road where the vehicle is located, and the rate of change of road curvature. The vehicle driving parameters include the vehicle's yaw rate, lateral acceleration, speed, and pedal parameters. The fitting module is used to determine the distance between a first reference number of vehicle body parts and the lane line based on the distance between the point on the vehicle and the lane line, the vehicle's heading angle, the curvature of the road where the vehicle is located, the rate of change of road curvature, the vehicle's yaw rate, lateral acceleration, speed, and pedal parameters. The module then extracts the mode from the distances between the body parts of the first reference number of vehicles and the lane line, and uses the mode as the distance between the body parts of the vehicle and the lane line.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement the lane departure detection method as described in any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the lane departure detection method as described in any one of claims 1 to 5.

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