Lane Departure Warning Method, Device, Equipment and Storage Medium

Abstract

The present invention relates to the technical field of vehicle warning, and discloses a lane departure warning method, device, equipment and storage medium. The method includes: obtaining lane line information and determining the lane departure side according to the lane line information; determining whether there is a lane departure trend according to the lane departure side; when there is a lane departure trend, determining the head deviation state according to the driver's operation behavior; and performing lane departure warning according to the head deviation state. By determining the lane departure side according to the lane line information, and when there is a lane departure trend on the lane departure side, determining the head deviation state according to the driver's operation behavior, so as to perform lane departure warning, the present invention solves the problems of poor reliability of deviation warning and low driving safety, improves the warning reliability and the driver experience, and ensures driving safety.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle warning, and particularly to a lane departure warning method, device, equipment and storage medium. Background Art

[0002] The lateral deviation warning method generally calculates the position of the vehicle in the lane line by using the lane line information, and warns the vehicle deviation state through the lateral distance and heading angle of the vehicle relative to the lane line. However, this method does not consider the real-time operation of the driver, making the deviation warning unreasonable, resulting in poor reliability of the deviation warning, and further affecting driving safety. Summary of the Invention

[0003] The main purpose of the present invention is to provide a lane departure warning method, device, equipment and storage medium, aiming to solve the technical problems of poor reliability of the existing deviation warning and low driving safety.

[0004] To achieve the above object, the present invention provides a lane departure warning method, which includes the following steps:

[0005] Obtain lane line information, and determine the lane departure side according to the lane line information;

[0006] Determine whether there is a lane departure trend according to the lane departure side;

[0007] When there is the lane departure trend, determine the head deviation state according to the operation behavior of the driver;

[0008] Perform lane departure warning according to the head deviation state.

[0009] Optionally, the obtaining lane line information and determining the lane departure side according to the lane line information includes:

[0010] Obtain lane line information, and determine the lateral distance and lateral speed according to the lane line information;

[0011] Determine the lane departure side according to the lateral distance and lateral speed.

[0012] Optionally, the lane line information includes first lane line information and second lane line information, the lateral distance includes first lateral distance and second lateral distance, and the lateral speed includes first lateral speed and second lateral speed;

[0013] The determining the lateral distance and lateral speed according to the lane line information includes:

[0014] Determine the first lateral distance and the first lateral speed of the vehicle relative to the first lane line according to the first lane line information;

[0015] Determine the second lateral distance and the second lateral speed of the vehicle relative to the second lane line according to the second lane line information, where the first lane line and the second lane line are adjacent lane lines of the vehicle's current lane line.

[0016] Optionally, the determining the lane departure side according to the lateral distance and the lateral speed includes:

[0017] When the first lateral distance is less than the second lateral distance and the direction of the first lateral speed of the vehicle is the direction of the first road line, determine that the lane departure side is the first lane line side;

[0018] When the second lateral distance is less than the first lateral distance and the direction of the second lateral speed of the vehicle is the direction of the second road line, determine that the lane departure side is the second lane line side.

[0019] Optionally, the determining whether there is a lane departure trend according to the lane departure side includes:

[0020] Obtain the departure speed and the lane line curvature of the lane departure side;

[0021] Determine whether there is a lane departure trend according to the departure speed and the lane line curvature.

[0022] Optionally, when there is the lane departure trend, determining the head departure state according to the driver's operation behavior includes:

[0023] When there is the lane departure trend, obtain the driver's operation behavior;

[0024] When the operation behavior is consistent with the preset behavior, obtain the steering wheel rotation speed of the vehicle, and calculate the expected deviation orientation angle of the vehicle according to the steering wheel rotation speed;

[0025] Determine the head departure state of the vehicle according to the expected deviation orientation angle of the vehicle.

[0026] Optionally, the performing lane departure warning according to the head departure state includes:

[0027] Determine whether the vehicle has a lane departure according to the head departure state;

[0028] When the vehicle has a lane departure, give a lane departure warning to the driver.

[0029] In addition, to achieve the above object, the present invention also provides a lane departure warning device, and the lane departure warning device includes:

[0030] An acquisition module, configured to acquire lane line information and determine a lane departure side according to the lane line information;

[0031] A determination module, configured to determine whether there is a lane departure trend according to the lane departure side;

[0032] The determination module is further configured to determine the head departure state according to the driver's operation behavior when there is the lane departure trend;

[0033] An early warning module, configured to perform lane departure early warning according to the head departure state.

[0034] In addition, to achieve the above object, the present invention further provides a lane departure warning device, where the lane departure warning device includes: a memory, a processor, and a lane departure warning program stored on the memory and executable on the processor, and the lane departure warning program is configured to implement the steps of the lane departure warning method as described above.

[0035] In addition, to achieve the above object, the present invention further provides a storage medium, where a lane departure warning program is stored on the storage medium, and when the lane departure warning program is executed by a processor, the steps of the lane departure warning method as described above are implemented.

[0036] The present invention obtains lane line information, determines the lane departure side according to the lane line information; determines whether there is a lane departure trend according to the lane departure side; when there is a lane departure trend, determines the head departure state according to the driver's operation behavior; and performs lane departure warning according to the head departure state. In the above manner, by determining the lane departure side according to the lane line information, and when there is a lane departure trend on the lane departure side, determining the head departure state according to the driver's operation behavior, so as to perform lane departure warning, the problems of poor reliability of departure warning and low driving safety are solved, the warning reliability and the driver experience are improved, and driving safety is ensured. Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of a lane departure warning device in a hardware operating environment related to the embodiment solution of the present invention;

[0038] Figure 2 is a schematic flowchart of the first embodiment of the lane departure warning method of the present invention;

[0039] Figure 3 is a schematic flowchart of the second embodiment of the lane departure warning method of the present invention;

[0040] Figure 4 is a schematic block diagram of the first embodiment of the lane departure warning device of the present invention.

[0041] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0042] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] Refer to Figure 1 , Figure 1 which is a schematic structural diagram of a lane departure warning device for the hardware operating environment involved in the embodiment solution of the present invention.

[0044] As Figure 1 shown, the lane departure warning device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to implement connection communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0045] Those skilled in the art can understand that Figure 1 the structure shown in

[0046] does not constitute a limitation on the lane departure warning device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Figure 1 shown, in the memory 1005 as a storage medium, there may be included an operating system, a network communication module, a user interface module, and a lane departure warning program.

[0047] In Figure 1 the lane departure warning device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the lane departure warning device of the present invention may be provided in the lane departure warning device, and the lane departure warning device calls the lane departure warning program stored in the memory 1005 through the processor 1001 and executes the lane departure warning method provided by the embodiment of the present invention.

[0048] An embodiment of the present invention provides a lane departure warning method. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the lane departure warning method of the present invention.

[0049] In this embodiment, the lane departure warning method includes the following steps:

[0050] Step S10: Obtain lane line information and determine the lane departure side according to the lane line information.

[0051] It should be noted that the execution subject in this embodiment is a lane departure warning device, and it can also be other devices that achieve the same or similar functions. This embodiment does not make specific limitations on this, and this embodiment takes the lane departure warning device as an example for illustration.

[0052] It can be understood that for the lane line information, the lane line includes a first lane line and a second lane line, that is, the left and right lane lines. The coordinate equations of the left and right lane lines are determined according to the output parameters of the vehicle vision sensor. The linear equations of the left and right lane line information are as follows in Equation 1 and Equation 2:

[0053] f L = c 0，L + c 1，L s + c 2,L s 2 + c 3,L s 3 (Equation 1)

[0054] f R = c 0，R + c 1，R s + c 2，R s 2 + c 3，R s 3 (Equation 2)

[0055] In Equation 1 and Equation 2, f is used to represent the change in the length of the perpendicular line segment from the point on the lane line projected onto the longitudinal center line direction of the vehicle itself, s is used to represent the longitudinal distance between the current position of the vehicle and each projection point, L and R respectively represent left and right, c0 is used to represent the lateral distance between the vehicle and the lane line at the current moment, c1 is used to represent the orientation angle of the vehicle relative to the lane line at the current moment, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment.

[0056] In a specific implementation, the lane departure warning device can obtain the position information of the lane line through a vision sensor (such as a camera) on the vehicle. According to the position information of the lane line, the position of the vehicle relative to the lane line can be determined, so as to determine whether the vehicle has deviated from the lane and whether it has deviated from the left lane or the right lane.

[0057] Step S20: Determine whether there is a lane departure trend according to the lane departure side.

[0058] It should be noted that after determining the lane departure side, the lane departure warning device needs to judge whether there is a trend of deviating from the lane on the lane departure side, which can be achieved by analyzing parameters such as the driving trajectory, speed, and acceleration of the vehicle.

[0059] Further, the determining whether there is a lane departure trend according to the lane departure side includes: obtaining the deviation speed and lane line curvature on the lane departure side; determining whether there is a lane departure trend according to the deviation speed and the lane line curvature.

[0060] It should be noted that assume the coordinate equation of the lane line on the deviation side is as follows (Equation 3):

[0061] f = c0 + c1s + c2s 2 ++c3s 3 (Equation 3)

[0062] In Equation 3, f represents the change in the length of the perpendicular line segment from the point on the lane line on the deviation side projected onto the longitudinal center line direction of the vehicle itself, s represents the longitudinal distance between the vehicle's current position and each projection point, c0 represents the lateral distance between the vehicle and the lane line at the current moment, c1 represents the orientation angle of the vehicle relative to the lane line at the current moment, c2 represents the curvature of the road at the current moment, and c3 represents the curvature change rate of the road at the current moment.

[0063] It can be understood that the lane departure trend can be calculated according to the deviation speed and the lane line curvature, as shown in the following Equations 4 to 7:

[0064]

[0065]

[0066] d = |c0 + c1s1 + c2s1 2 + c3s1 3 | (Equation 6)

[0067]

[0068] In Equations 4 to 7, d is the lateral compensation distance of the lane line (m), and s1 is the longitudinal distance predicted for the vehicle movement along with the lane line change within the first warning time. Let \(\theta\) be the orientation angle of the vehicle relative to the lane line, \(T_1\) be the first warning time (s), \(D_1\) be the deviation warning distance set according to the vehicle speed (the faster the vehicle speed, the greater the distance), \(W\) be the vehicle width (m), \(V\) be the vehicle driving speed, \(c_0\) represent the lateral distance between the vehicle and the lane line at the current moment, \(c_1\) represent the orientation angle of the vehicle relative to the lane line at the current moment, \(c_2\) represent the curvature of the road at the current moment, and \(c_3\) represent the curvature change rate of the road at the current moment.

[0069] In specific implementation, if the above formula (7) holds and the state persists for 0.1 s, it is determined that the vehicle has a deviation trend. If the above formula (7) does not hold, it is determined that the vehicle does not have a deviation trend.

[0070] Step S30: When there is the lane deviation trend, determine the head deviation state according to the driver's operation behavior.

[0071] It should be noted that if it is determined that there is a trend of deviating from the lane on the lane deviation side of the vehicle, then the lane departure warning device needs to further analyze the driver's operation behavior to determine the head deviation state. This can be achieved by analyzing parameters such as the driver's steering wheel angle, steering angle, accelerator pedal opening, and brake pedal opening. This embodiment does not make specific limitations in this regard. This embodiment takes the steering wheel angle as an example for illustration.

[0072] Further, the determining the head deviation state according to the driver's operation behavior when there is the lane deviation trend includes: when there is the lane deviation trend, obtaining the driver's operation behavior; when the operation behavior is consistent with the preset behavior, obtaining the steering wheel rotation speed of the vehicle, and calculating the expected deviation orientation angle of the vehicle according to the steering wheel rotation speed; determining the head deviation state of the vehicle according to the expected deviation orientation angle of the vehicle.

[0073] It should be noted that if the vehicle has a lane deviation trend and there is an operation of the driver turning the steering wheel, then calculate the expected deviation orientation angle of the vehicle according to the steering wheel rotation speed obtained during the driver's operation process As shown in the following formula (8):

[0074]

[0075] In formula (8), is the expected deviation orientation angle of the vehicle, is the orientation angle of the vehicle relative to the lane line, \(\omega_1\) is the steering wheel feedback rotation speed (rad / s), \(\omega_2\) is the vehicle yaw rate (rad / s), \(R\) is the vehicle steering ratio, and \(T_2\) is the driver operation compensation time (s).

[0076] Calculating the head deviation state in the case of the driver's operation includes the left head deviation state and the right lane deviation state, as shown in the following formula (9) and formula (10):

[0077]

[0078]

[0079] In Formulas 9 and 10, D1 is the deviation warning distance set according to the vehicle speed (the faster the vehicle speed, the greater the distance), L is the wheelbase of the vehicle, L F is the distance from the front of the vehicle to the center of the front wheel axle, is the expected deviation orientation angle of the vehicle.

[0080] Step S40: Perform a lane departure warning according to the head departure state.

[0081] It should be noted that the lane departure warning device performs a lane departure warning according to the head departure state. The warning method can be to remind the driver to pay attention to the lane departure situation and take corresponding corrective measures through means such as sound, light, and vibration. This embodiment does not make specific limitations on this.

[0082] It can be understood that the warning timing and method should be determined according to the severity of the head departure state to ensure the effectiveness of the warning and the safety of the driver.

[0083] Further, the performing a lane departure warning according to the head departure state includes: determining whether the vehicle has a lane departure according to the head departure state; and performing a lane departure warning on the driver when the vehicle has a lane departure.

[0084] It should be noted that if Formula 9 or Formula 10 above holds, it is determined that the vehicle has a lane departure. If neither holds, it is determined that the vehicle has no lane departure.

[0085] In a specific implementation, if the vehicle speed is lower than V P or the driver's hand torque is greater than F or the steering wheel angle is greater than θ or the steering wheel rotation speed is greater than α or the driver has turned on the turn signal on the deviation side, then no warning determination is made. Otherwise, a lane departure warning determination is made according to the lane departure side, lane departure trend, and lane departure state. If there is no lane departure trend on the deviation side of the vehicle, then the system does not give a warning. If there is a lane departure trend on the deviation side of the vehicle, but there is no driver's operation of turning the steering wheel or no lane departure state, then the system issues a Level 1 lane departure warning to remind the driver of distracted driving behavior. If there is a lane departure trend on the deviation side of the vehicle and there is a lane departure state, then the system issues a Level 2 lane departure warning to remind the driver that the operation may cause the vehicle to cross the line.

[0086] In this embodiment, lane line information is obtained, and the lane deviation side is determined based on the lane line information; whether there is a lane deviation trend is determined according to the lane deviation side; when there is a lane deviation trend, the head deviation state is determined based on the driver's operation behavior; and lane deviation warning is performed according to the head deviation state. In the above manner, by determining the lane deviation side according to the lane line information, and when there is a lane deviation trend on the lane deviation side, determining the head deviation state based on the driver's operation behavior, so as to perform lane deviation warning, the problems of poor reliability of deviation warning and low driving safety are solved, the warning reliability and the driver experience are improved, and driving safety is ensured.

[0087] Reference Figure 3 , Figure 3 is a schematic flowchart of the second embodiment of the lane departure warning method of the present invention.

[0088] Based on the above first embodiment, step S10 in the lane departure warning method of this embodiment includes:

[0089] Step S101: Obtain lane line information, and determine the lateral distance and lateral speed according to the lane line information.

[0090] It should be noted that the lane line information includes first lane line information and second lane line information, the lateral distance includes a first lateral distance and a second lateral distance, and the lateral speed includes a first lateral speed and a second lateral speed. Among them, the first lane line information and the second lane line information are the left and right lane line information.

[0091] Further, the determining the lateral distance and lateral speed according to the lane line information includes: determining the first lateral distance and the first lateral speed of the vehicle relative to the first lane line according to the first lane line information; determining the second lateral distance and the second lateral speed of the vehicle relative to the second lane line according to the second lane line information, where the first lane line and the second lane line are adjacent lane lines of the vehicle's current lane line.

[0092] It should be noted that the first lateral distance is the lateral distance of the vehicle relative to the left lane line, the first lateral speed is the lateral speed of the vehicle relative to the left lane line, the second lateral distance is the lateral distance of the vehicle relative to the right lane line, and the first lateral speed is the lateral speed of the vehicle relative to the right lane line.

[0093] In a specific implementation, the lateral distance and lateral speed of the vehicle relative to the lane line are obtained according to the lane line information, as shown in the following formulas 11 to 16:

[0094] d L = |c 0，L | (Formula 11)

[0095] d R= |c 0，R | (Equation 12)

[0096]

[0097]

[0098]

[0099]

[0100] In Equations 11 to 16, d R represents the lateral distance of the vehicle relative to the right lane line, d L represents the lateral distance of the vehicle relative to the left lane line, L and R respectively represent left and right, c0 is used to represent the lateral distance between the vehicle and the lane line at the current moment, and c1 is used to represent the orientation angle of the vehicle relative to the lane line at the current moment, represents the orientation angle of the vehicle relative to the left lane line, represents the orientation angle of the vehicle relative to the right lane line, V lat，L represents the lateral speed of the vehicle relative to the left lane line, V lat，R represents the lateral speed of the vehicle relative to the right lane line, and V is the vehicle speed.

[0101] Step S102: Determine the lane departure side according to the lateral distance and the lateral speed.

[0102] It should be noted that after the lane departure warning device obtains the lateral distance and the lateral speed, it will further analyze the lateral distance and the lateral speed to determine whether the vehicle has deviated from the lane and determine the lane departure side, that is, whether the vehicle has deviated from the left lane or the right lane.

[0103] Furthermore, the determining the lane departure side according to the lateral distance and the lateral speed includes: when the first lateral distance is less than the second lateral distance and the direction of the first lateral speed of the vehicle is the direction of the first road line, determining that the lane departure side is the first lane line side; when the second lateral distance is less than the first lateral distance and the direction of the second lateral speed of the vehicle is the direction of the second road line, determining that the lane departure side is the second lane line side.

[0104] It should be noted that the first lane line side is the left side, and the second lane line side is the right side.

[0105] In a specific implementation, if d L < d R and the lateral speed V of the vehicle relative to the left lane line lat，L is directed to the left, then it is determined that the vehicle departure side is the left side; if d R < d Land the lateral speed V of the vehicle relative to the right lane line lat，R If the direction is to the right, it is determined that the deviation side of the vehicle is the right side.

[0106] In this embodiment, lane line information is obtained, and the lateral distance and lateral speed are determined according to the lane line information; the lane deviation side is determined according to the lateral distance and lateral speed. In the above manner, the lane deviation side is judged according to the lane line information, and then the lane deviation trend of the vehicle is determined, improving the efficiency and accuracy of vehicle deviation warning.

[0107] Refer to Figure 4 , Figure 4 which is the structural block diagram of the first embodiment of the lane departure warning device of the present invention.

[0108] As Figure 4 shown, the lane departure warning device proposed in the embodiment of the present invention includes:

[0109] An acquisition module 10, configured to acquire lane line information and determine the lane deviation side according to the lane line information.

[0110] A determination module 20, configured to determine whether there is a lane deviation trend according to the lane deviation side.

[0111] The determination module 20 is further configured to determine the head deviation state according to the driver's operation behavior when there is the lane deviation trend.

[0112] An early warning module 30, configured to perform lane departure warning according to the head deviation state.

[0113] In this embodiment, lane line information is obtained, and the lane deviation side is determined according to the lane line information; whether there is a lane deviation trend is determined according to the lane deviation side; when there is a lane deviation trend, the head deviation state is determined according to the driver's operation behavior; lane departure warning is performed according to the head deviation state. In the above manner, by determining the lane deviation side according to the lane line information, when there is a lane deviation trend on the lane deviation side, the head deviation state is determined according to the driver's operation behavior, thereby performing lane departure warning, solving the problems of poor reliability of deviation warning and low driving safety, improving the warning reliability and the driver experience, and ensuring driving safety.

[0114] In one embodiment, the acquisition module 10 is further configured to acquire lane line information, determine the lateral distance and lateral speed according to the lane line information; and determine the lane deviation side according to the lateral distance and lateral speed.

[0115] In one embodiment, the lane line information includes first lane line information and second lane line information, the lateral distance includes a first lateral distance and a second lateral distance, and the lateral speed includes a first lateral speed and a second lateral speed; the obtaining module 10 is further configured to determine a first lateral distance and a first lateral speed of the vehicle relative to the first lane line according to the first lane line information; and determine a second lateral distance and a second lateral speed of the vehicle relative to the second lane line according to the second lane line information, where the first lane line and the second lane line are adjacent lane lines of the vehicle's current lane line.

[0116] In one embodiment, the obtaining module 10 is further configured to determine that the lane departure side is the first lane line side when the first lateral distance is less than the second lateral distance and the direction of the vehicle's first lateral speed is the first road line direction; and determine that the lane departure side is the second lane line side when the second lateral distance is less than the first lateral distance and the direction of the vehicle's second lateral speed is the second road line direction.

[0117] In one embodiment, the determining module 20 is further configured to obtain a departure speed and a lane line curvature of the lane departure side; and determine whether there is a lane departure trend according to the departure speed and the lane line curvature.

[0118] In one embodiment, the determining module 20 is further configured to obtain a driver's operation behavior when there is the lane departure trend; when the operation behavior is consistent with a preset behavior, obtain a steering wheel rotation speed of the vehicle, and calculate an expected deviation orientation angle of the vehicle according to the steering wheel rotation speed; and determine a head departure state of the vehicle according to the expected deviation orientation angle of the vehicle.

[0119] In one embodiment, the warning module 30 is further configured to determine whether the vehicle has a lane departure according to the head departure state; and issue a lane departure warning to the driver when the vehicle has a lane departure.

[0120] In addition, to achieve the above object, the present invention further provides a lane departure warning device, where the lane departure warning device includes: a memory, a processor, and a lane departure warning program stored on the memory and executable on the processor, and the lane departure warning program is configured to implement the steps of the lane departure warning method as described above.

[0121] Since this lane departure warning device adopts all the technical solutions of the above all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated herein one by one.

[0122] In addition, an embodiment of the present invention further provides a storage medium, on which a lane departure warning program is stored. When the lane departure warning program is executed by a processor, the steps of the lane departure warning method described above are implemented.

[0123] Since this storage medium adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated one by one here.

[0124] It should be understood that the above is only for illustration and does not constitute any limitation to the technical solution of the present invention. In specific applications, those skilled in the art can set according to needs, and the present invention does not limit this.

[0125] It should be noted that the above-described work process is only illustrative and does not limit the protection scope of the present invention. In actual applications, those skilled in the art can select some or all of them according to actual needs to achieve the purpose of the solution of this embodiment, and there is no limitation here.

[0126] In addition, for the technical details not described in detail in this embodiment, reference can be made to the lane departure warning method provided in any embodiment of the present invention, which will not be elaborated here.

[0127] In addition, it should be noted that in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0128] It should be understood that although the steps in the flowcharts in the embodiments of the present application are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least some of the steps in the figure may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0129] The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0130] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a Read Only Memory (ROM) / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0131] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A lane departure warning method, characterized in that: The method comprises: Acquiring lane line information, and determining a lane departure side according to the lane line information; determining whether there is a lane departure trend according to the lane departure side; When the lane departure trend exists, determining the vehicle head departure state according to the driver's operating behavior; Performing lane departure warning according to the vehicle head deviation state; The acquiring lane line information and determining the lane departure side according to the lane line information includes: Acquire lane line information, and determine lateral distance and lateral speed according to the lane line information; determining a lane departure side based on the lateral distance and the lateral speed; The lane line information includes first lane line information and second lane line information, and the first lane line information and the second lane line information are respectively: f L =c 0，L +c 1，L s+c 2，L s 2 +c 3，L s 3 f R =c 0,R +C 1,R s+c 2，R s 2 +c 3,R s 3 Among them, f is used to represent the change in the length of the vertical line segment projected from the point on the lane line to the longitudinal centerline of the vehicle, that is, the lane line information, L and R represent left and right respectively, and f L and f R are the first lane line information and the second lane line information respectively, s is used to represent the longitudinal distance between the current position of the vehicle and each projection point, c0 is used to represent the lateral distance between the current vehicle and the lane line, c1 is used to represent the orientation angle of the vehicle relative to the lane line, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment; When the lane departure trend exists, determining the vehicle head departure state according to the driver's operation behavior includes: When the lane departure trend exists, obtaining the driver's operating behavior; When the operation behavior is consistent with the preset behavior, obtaining the steering wheel speed of the vehicle, and calculating the expected deviation heading angle of the vehicle according to the steering wheel speed; Determining a front deviation state of the vehicle according to the expected deviation heading angle of the vehicle; The formula for calculating the expected deviation heading angle of the vehicle is: in, is the expected deviation angle of the vehicle, is the vehicle's heading angle relative to the lane line, ω1 is the steering wheel feedback speed (rad / s), ω2 is the vehicle's yaw rate (rad / s), R is the vehicle's steering wheel steering ratio, and T2 is the driver's operation compensation time (s); The determining whether there is a lane departure trend according to the lane departure side includes: Obtaining a deviation speed and a lane line curvature of the lane deviation side; Whether there is a lane departure trend is determined according to the departure speed and the lane line curvature.

2. The method according to claim 1, characterized in that The lateral distance includes a first lateral distance and a second lateral distance, and the lateral speed includes a first lateral speed and a second lateral speed; The determining the lateral distance and the lateral speed according to the lane line information includes: Determine a first lateral distance and a first lateral speed of the vehicle relative to the first lane line according to the first lane line information; A second lateral distance and a second lateral speed of the vehicle relative to the second lane line are determined according to the second lane line information, wherein the first lane line and the second lane line are adjacent lane lines of the current lane line of the vehicle.

3. The method according to claim 2, characterized in that The determining the lane departure side according to the lateral distance and the lateral speed comprises: When the first lateral distance is less than the second lateral distance and the direction of the first lateral speed of the vehicle is the direction of the first road line, determining that the lane departure side is the first lane line side; When the second lateral distance is smaller than the first lateral distance and the direction of the second lateral speed of the vehicle is the direction of the second road line, the lane departure side is determined to be the second lane line side.

4. The method according to claim 1, characterized in that The lane departure warning according to the vehicle head deviation state includes: determining whether the vehicle has lane deviation according to the vehicle head deviation state; When the vehicle deviates from the lane, the driver will be given a lane departure warning.

5. A lane departure warning device, characterized in that: The lane departure warning device comprises: An acquisition module, used to acquire lane line information and determine a lane departure side according to the lane line information; a determination module, configured to determine whether there is a lane departure trend according to the lane departure side; The determination module is further configured to determine the vehicle head deviation state according to the driver's operation behavior when the lane deviation trend exists; A warning module, used for providing lane departure warning according to the vehicle head deviation state; The acquisition module is further used to acquire lane line information, and determine a lateral distance and a lateral speed according to the lane line information; and determine a lane departure side according to the lateral distance and the lateral speed; wherein the lane line information includes first lane line information and second lane line information, and the first lane line information and the second lane line information are respectively: f L =c 0,L +C 1，L s+c 2，L s 2 +c 3，L s 3 f R =c 0，R +c 1，R s+c 2,R s 2 +c 3，R s 3 Among them, f is used to represent the change in the length of the vertical line segment projected from the point on the lane line to the longitudinal centerline of the vehicle, that is, the lane line information, L and R represent left and right respectively, and f L and f R are the first lane line information and the second lane line information respectively, s is used to represent the longitudinal distance between the current position of the vehicle and each projection point, c0 is used to represent the lateral distance between the current vehicle and the lane line, c1 is used to represent the orientation angle of the vehicle relative to the lane line, c2 is used to represent the curvature of the road at the current moment, and c3 is used to represent the curvature change rate of the road at the current moment; The determination module is further configured to obtain the driver's operating behavior when the lane deviation trend exists; obtain the steering wheel speed of the vehicle when the operating behavior is consistent with the preset behavior, and calculate the expected deviation direction angle of the vehicle according to the steering wheel speed; and determine the front deviation state of the vehicle according to the expected deviation direction angle of the vehicle; The formula for calculating the expected deviation heading angle of the vehicle is: in, is the expected deviation angle of the vehicle, is the vehicle's heading angle relative to the lane line, ω1 is the steering wheel feedback speed (rad / s), ω2 is the vehicle's yaw rate (rad / s), R is the vehicle's steering wheel steering ratio, and T2 is the driver's operation compensation time (s); The determination module is further configured to obtain a deviation speed and a lane line curvature on the lane deviation side; and determine whether there is a lane deviation trend according to the deviation speed and the lane line curvature.

6. A lane departure warning device, characterized in that: The lane departure warning device includes: a memory, a processor, and a lane departure warning program stored in the memory and executable on the processor, wherein the lane departure warning program is configured to implement the lane departure warning method according to any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores a lane departure warning program, which, when executed by the processor, implements the lane departure warning method according to any one of claims 1 to 4.

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