Lane departure alarm and deviation correction control method, system and equipment and medium

Abstract

The invention provides a lane departure alarm and correction control method, system and device and a medium, and the method comprises the steps: detecting the intention of a target vehicle departing from a driving lane according to the real-time dynamic data, collected in real time, of the target vehicle; when the driver intends to deviate unconsciously, and it is detected that the edge of the head of the target vehicle enters an alarm area of the driving lane, an alarm deviation correction function is activated to give an alarm and correct deviation until the target vehicle enters a safety area through a hysteresis area; and when the intention is that the driver actively deviates, dynamically inhibiting the alarm deviation correction function through a dynamic inhibition strategy, and ending inhibition control on the alarm deviation correction function until the vehicle head edge of the target vehicle leaves the hysteresis area of the new lane and then enters the safety area of the new lane. According to the method, activation and suppression of the alarm deviation correction function can be dynamically adjusted, it is guaranteed that a driver normally drives the vehicle, meanwhile, the situation of false intervention or missing intervention can be avoided, and the safety and usability of the system are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the computer field and relates to vehicle active defense technology, and specifically to a lane departure alarm and deviation correction control method, system, equipment and medium. Background Art

[0002] The lane departure assist system is an important part of the advanced driver assistance system ADAS, including the lane departure prevention system LDW (Lane Departure Warning) and the lane departure warning system LDP (Lane Departure Prevention). When the system detects that the vehicle has deviated or is about to deviate from its own lane without the driver's awareness, LDW will prompt the driver through sound, optical or tactile signals; LDP will intervene in the vehicle's steering control, adjust the front wheel angle through the electric power steering system EPS (Electric Power Steering System), and correct the vehicle's driving direction to ensure that the vehicle is driving within the lane.

[0003] At present, when the existing lane departure assistance system performs lane departure warning, on the one hand, it does not judge or only judges the driver's subjective intention through the driver's operation, which makes the LDW and LDP systems frequently and erroneously intervene, thus affecting the driver's normal driving of the vehicle. On the other hand, the alarm or deviation suppression function usually adopts the method of instant occurrence but not holding, or the method of holding for a fixed time after occurrence. However, the method of instant occurrence but not holding will result in repeated alarms, and the method of holding for a fixed time after occurrence will result in missed alarms, which seriously affects the safety and availability of the system. Summary of the invention

[0004] In order to solve the technical problems that the driver's normal driving of the vehicle is affected by the frequent and erroneous intervention of the LDW and LDP systems during the operation of the existing lane departure assistance system, and the erroneous intervention or missed intervention caused by the existing alarm or correction suppression function implementation method affects the safety and availability of the system, the present invention discloses a lane departure alarm and correction control method, the method comprising the following steps:

[0005] S103, detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time;

[0006] S104, when the intention is that the driver deviates unconsciously, when the front edge of the target vehicle is detected to enter the alarm area of ​​the driving lane, activating the alarm and deviation correction function to perform alarm and deviation correction until the front edge of the target vehicle leaves the alarm area and hysteresis area of ​​the driving lane and enters its safety area;

[0007] S105. When the intention is for the driver to actively deviate, the alarm and deviation correction function is dynamically suppressed through a dynamic suppression strategy until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm and deviation correction function is terminated.

[0008] In an optional embodiment, the lane departure alarm and deviation correction control method further includes:

[0009] S1011, along the direction from the center line of each lane to the lane lines on both sides thereof, divide the lane into a safety area, a hysteresis area, and an alarm area, define the boundary between the safety area and the hysteresis area as an alarm stop line, and define the boundary between the hysteresis area and the adjacent alarm area as an alarm start line;

[0010] S1012: Define the distance between the alarm start line and the lane line on the same side as a first distance threshold, and define the distance between the alarm stop line and the lane line on the same side as a second distance threshold.

[0011] In an optional embodiment, the lane departure alarm and deviation correction control method further includes:

[0012] S102: Identify whether the target vehicle intends to deviate from the driving lane, including:

[0013] S1021, collecting a road image through a vehicle-mounted camera of the target vehicle, and acquiring a first real-time distance between a front edge of the target vehicle and a lane line of the driving lane according to the road image;

[0014] S1022: if the first real-time distance is less than or equal to a first distance threshold, determine that the front edge of the target vehicle is in a hysteresis area of ​​the driving lane; if the first real-time distance is less than or equal to a second distance threshold, determine that the front edge of the target vehicle is in a warning area of ​​the driving lane;

[0015] S1023: When the front edge of the target vehicle is in the hysteresis area or the warning area, it is determined that the target vehicle has an intention to deviate from the driving lane.

[0016] In an optional embodiment, in the above step S103, detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time includes:

[0017] Collecting real-time dynamic data of the target vehicle in real time, and when the real-time dynamic data is greater than or equal to a preset threshold, judging that the intention is that the driver actively deviates; when the real-time dynamic data is less than the preset threshold, judging that the intention is that the driver unconsciously deviates;

[0018] The real-time dynamic data includes dynamic control parameters and dynamic characteristic parameters, and the preset thresholds include control thresholds corresponding to the dynamic control parameters and characteristic thresholds corresponding to the dynamic characteristic parameters.

[0019] Furthermore, the dynamic control parameter includes any one of the steering wheel torsion bar torque, the depth or change rate of the brake pedal, and the depth or change rate of the accelerator pedal; and the dynamic characteristic parameter includes any one of the vehicle lateral acceleration, the vehicle longitudinal acceleration, and the vehicle yaw angular velocity.

[0020] In an optional embodiment, in the above step S105, the dynamic suppression strategy includes:

[0021] When it is identified that the deviation of the target vehicle is an active deviation by the driver according to the collected real-time dynamic data of the target vehicle, the suppression control of the alarm deviation correction function is started;

[0022] Detect a second real-time distance between the front edge of the target vehicle and the lane line of the driving lane, and after identifying that the front edge of the target vehicle has left the hysteresis area of ​​the new lane and entered its safety area based on the second real-time distance, end the suppression control of the alarm correction function.

[0023] An embodiment of the present invention also provides a lane departure alarm and correction control system, which includes a vehicle dynamic data acquisition module, a lane departure intention determination module, an alarm and correction activation module, and an alarm and correction suppression module.

[0024] Wherein, the vehicle dynamic data acquisition module is used to collect real-time dynamic data of the target vehicle in real time;

[0025] The lane departure intention discrimination module is used to detect the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data;

[0026] The alarm and deviation correction activation module is used to activate the alarm and deviation correction function to alarm and correct the deviation when the front edge of the target vehicle enters the alarm area of ​​the driving lane when the intention is that the driver deviates unconsciously, until the front edge of the target vehicle leaves the alarm area and hysteresis area of ​​the driving lane and enters its safety area;

[0027] The alarm and deviation correction suppression module is used to dynamically suppress the alarm and deviation correction function through a dynamic suppression strategy when the intention is for the driver to actively deviate, until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm and deviation correction function ends.

[0028] In an optional embodiment, the system further includes a lane division module, which is used to divide each lane into a safety area, a hysteresis area and an alarm area along the center line of each lane to the lane lines on both sides thereof, define the boundary between the safety area and the hysteresis area as an alarm stop line, and define the boundary between the hysteresis area and the adjacent alarm area as an alarm start line; define the distance between the alarm start line and the lane line on the same side as a first distance threshold, and define the distance between the alarm stop line and the lane line on the same side as a second distance threshold.

[0029] An embodiment of the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-mentioned lane departure alarm and deviation correction control methods when executing the computer program, so as to solve the technical problems that the driver is affected from driving the vehicle normally due to the frequent and erroneous intervention of the LDW and LDP systems during the operation of the existing lane departure assistance system, and the erroneous intervention or missed intervention caused by the existing alarm or deviation correction suppression function implementation method, thereby affecting the safety and availability of the system.

[0030] An embodiment of the present invention also provides a computer-readable storage medium, which stores a computer program for executing any of the above-mentioned lane departure alarm and correction control methods, so as to solve the technical problems that the driver's normal driving of the vehicle is affected by the frequent and erroneous intervention of the LDW and LDP systems during the operation of the existing lane departure assistance system, and the erroneous intervention or missed intervention caused by the existing alarm or correction suppression function implementation method, thereby affecting the safety and availability of the system.

[0031] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least: the lane departure alarm and correction control method of the present invention first determines whether the intention to deviate from the driving lane is the driver's active intention by combining the real-time dynamic data of the target vehicle; then, for unconscious deviation, when the front edge of the target vehicle is detected to enter the alarm area, the alarm and correction function are activated immediately, and the alarm and correction are performed, and after it returns from the alarm area to the safe area through the hysteresis area, the alarm and correction are stopped; for active lane departure, the alarm correction function is dynamically suppressed by the designed dynamic suppression strategy until the front edge of the target vehicle enters the new lane from the driving lane, passes through its alarm area and hysteresis area and enters its safe area, and then the suppression of the alarm correction function is stopped. The method of the present invention can dynamically adjust the activation and suppression of the alarm correction function, avoid the occurrence of frequent and erroneous alarms and corrections affecting the normal driving of the driver, and the situation of erroneous intervention or missed intervention caused by unreasonable suppression of the alarm correction function, and the implementation of the method of the present invention can greatly improve the safety and availability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A flowchart of a lane departure warning and deviation correction control method disclosed in an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the operation flow of the lane departure alarm and deviation correction control method disclosed in an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the division of the safety area, hysteresis area and warning area in the lane disclosed in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the lane departure warning and correction control system disclosed in an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of a computer device disclosed in an embodiment of the present invention;

[0038] Among them, 401, vehicle dynamic data acquisition module; 402, lane departure intention judgment module; 403, alarm and correction activation module; 404, alarm and correction suppression module; 501, memory; 502, processor. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0040] The following describes the implementation methods of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and the features of the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0041] The embodiment of the present invention discloses a lane departure alarm and deviation correction control method, see Figure 1 and Figure 2 As shown, the method comprises the following steps:

[0042] S103, detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time;

[0043] S104, when the intention is that the driver deviates unconsciously, when the front edge of the target vehicle is detected to enter the alarm area of ​​the driving lane, activating the alarm and deviation correction function to perform alarm and deviation correction until the front edge of the target vehicle leaves the alarm area and hysteresis area of ​​the driving lane and enters its safety area;

[0044] S105. When the intention is for the driver to actively deviate, the alarm and deviation correction function is dynamically suppressed through a dynamic suppression strategy until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm and deviation correction function is terminated.

[0045] When the above steps S104 and S105 are implemented, the alarm correction function is realized by the lane departure prevention system LDW and the lane departure warning system LDP. In the present invention, the activation or inhibition of these two systems is dynamically controlled according to the position of the target vehicle in the lane and the real-time dynamic data of the target vehicle. Through the dynamic control of the two systems, the driver can be guaranteed to drive the vehicle normally, and at the same time, the situation of false intervention or missed intervention can be avoided, which greatly improves the safety and availability of the system.

[0046] In an optional embodiment, the lane deviation alarm and correction control method further includes: S101, dividing each lane into a safety area, two hysteresis areas and two warning areas, wherein the safety area is in the middle of the lane, the warning area is adjacent to the lane line of the lane, and the hysteresis area is between the safety area and the warning area. The lane division method specifically includes the following steps:

[0047] S1011. Divide each lane into a safety area, a hysteresis area, and an alarm area along the center line of each lane to the lane lines on both sides thereof. Define the boundary between the safety area and the hysteresis area as an alarm stop line. Define the boundary between the hysteresis area and the adjacent alarm area as an alarm start line. The division method of the safety area, hysteresis area, and alarm area in the lane is as shown in Figure 3 shown.

[0048] S1012: Define the distance between the alarm start line and the lane line on the same side as a first distance threshold, and define the distance between the alarm stop line and the lane line on the same side as a second distance threshold.

[0049] In an alternative embodiment, see Figure 2 As shown, the lane departure alarm and correction control method also includes: S102, identifying whether the target vehicle has the intention to deviate from the driving lane, that is, judging whether the target vehicle has traveled to the alarm area.

[0050] Specifically, judging whether the target vehicle intends to deviate from the driving lane includes the following steps:

[0051] S1021, collecting a road image through a vehicle-mounted camera of the target vehicle, and acquiring a first real-time distance between a front edge of the target vehicle and a lane line of the driving lane according to the road image;

[0052] S1022: if the first real-time distance is less than or equal to a first distance threshold, determine that the front edge of the target vehicle is in a hysteresis area of ​​the driving lane; if the first real-time distance is less than or equal to a second distance threshold, determine that the front edge of the target vehicle is in a warning area of ​​the driving lane;

[0053] S1023: When the front edge of the target vehicle is in the hysteresis area or the warning area, it is determined that the target vehicle has an intention to deviate from the driving lane.

[0054] In an optional embodiment, in the above step S103, detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time includes:

[0055] Collecting real-time dynamic data of the target vehicle in real time, and when the real-time dynamic data is greater than or equal to a preset threshold, judging that the intention is that the driver actively deviates; when the real-time dynamic data is less than the preset threshold, judging that the intention is that the driver unconsciously deviates;

[0056] The real-time dynamic data includes dynamic control parameters and dynamic characteristic parameters, and the preset thresholds include control thresholds corresponding to the dynamic control parameters and characteristic thresholds corresponding to the dynamic characteristic parameters.

[0057] Furthermore, the dynamic control parameter includes any one of the steering wheel torsion bar torque, the depth or change rate of the brake pedal, and the depth or change rate of the accelerator pedal; and the dynamic characteristic parameter includes any one of the vehicle lateral acceleration, the vehicle longitudinal acceleration, and the vehicle yaw angular velocity.

[0058] In step S104 of the embodiment of the present invention, when the target vehicle deviates unconsciously, the activation time of the alarm correction function changes dynamically. It starts to be activated when the front edge of the target vehicle enters the alarm area, and ends after the front edge of the target vehicle leaves the hysteresis area and returns to the safe area after correction. The entire control cycle is not fixed but variable, which is related to the correction parameters, the size of the alarm area and the hysteresis area, etc.

[0059] In an optional embodiment, in the above step S105, the dynamic suppression strategy includes:

[0060] When it is identified that the deviation of the target vehicle is an active deviation by the driver according to the collected real-time dynamic data of the target vehicle, the suppression control of the alarm deviation correction function is started;

[0061] Detect a second real-time distance between the front edge of the target vehicle and the lane line of the driving lane, and after identifying that the front edge of the target vehicle has left the hysteresis area of ​​the new lane and entered its safety area based on the second real-time distance, end the suppression control of the alarm correction function.

[0062] Specifically, in step S105 of the embodiment of the present invention, when it is determined that the target vehicle is preparing to drive in the lane with the intention of the driver to actively deviate, the alarm correction function is suppressed, and when the front of the target vehicle leaves the hysteresis area of ​​the new lane and enters the safe area, the alarm correction function is suppressed. The entire control cycle is also a dynamic change, not fixed, and is related to the data such as the steering wheel torsion bar torque of the target vehicle, the depth or change rate of the brake pedal, the depth or change rate of the accelerator pedal, the lateral acceleration of the vehicle, the longitudinal acceleration of the vehicle and the yaw rate of the vehicle, as well as the size of the alarm area and the hysteresis area.

[0063] In order to facilitate the activation or inhibition control of the alarm correction function in the present invention, the first / second real-time distance between the front edge of the target vehicle and the lane line is calculated, and the first / second real-time distance is compared with the defined first distance threshold and second distance threshold to determine whether to start or end the control of the alarm correction function. It should be noted that the front edge in the present invention refers to the side close to the lane line where the target vehicle deviates, such as Figure 3 As shown, when the target vehicle deviates to the right, the front edge refers to the right edge of the front of the vehicle.

[0064] The lane departure alarm and deviation correction control method of the present invention first determines whether the intention to deviate from the driving lane is the driver's active intention by combining the real-time dynamic data of the target vehicle; then, for unconscious deviation, the alarm and deviation correction function is immediately activated when the front edge of the target vehicle is detected to enter the alarm area, and the alarm and deviation correction are performed, and the alarm and deviation correction are stopped after the target vehicle returns from the alarm area to the safety area through the hysteresis area; for active lane departure, the alarm and deviation correction function is dynamically suppressed through the designed dynamic suppression strategy until the front edge of the target vehicle enters the new lane from the driving lane, passes through its alarm area and hysteresis area and enters its safety area, and then the suppression of the alarm and deviation correction function is stopped.

[0065] The method of the present invention can dynamically adjust the activation and inhibition of the alarm correction function to avoid the driver's normal driving being affected by frequent and erroneous alarms and corrections, as well as erroneous intervention or missed intervention caused by unreasonable inhibition of the alarm correction function. The implementation of the method of the present invention can greatly improve the safety and availability of the system.

[0066] Based on the same inventive concept, an alarm and correction control system for lane departure is also provided in an embodiment of the present invention, as described in the following embodiments. Since the principle of solving the problem by the alarm and correction control system for lane departure is similar to the alarm and correction control method for lane departure disclosed in the above embodiments, the implementation of the alarm and correction control system can refer to the implementation of the above alarm and correction control method, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0067] Figure 4 : is a structural block diagram of a lane departure alarm and deviation correction control system disclosed in an embodiment of the present invention, such as Figure 4 As shown, the alarm and correction control system includes a vehicle dynamic data acquisition module 401, a lane departure intention determination module 402, an alarm and correction activation module 403 and an alarm and correction suppression module 404, and the structure is described below.

[0068] Wherein, the vehicle dynamic data acquisition module 401 is used to collect real-time dynamic data of the target vehicle in real time;

[0069] The lane departure intention determination module 402 is used to detect the intention of the target vehicle to depart from the driving lane according to the real-time dynamic data;

[0070] The alarm and deviation correction activation module 403 is used to activate the alarm and deviation correction function to alarm and correct the deviation when the front edge of the target vehicle enters the alarm area of ​​the driving lane when the intention is that the driver deviates unconsciously, until the front edge of the target vehicle leaves the alarm area and hysteresis area of ​​the driving lane and enters its safety area;

[0071] The alarm and deviation correction suppression module 404 is used to dynamically suppress the alarm and deviation correction function through a dynamic suppression strategy when the intention is for the driver to actively deviate, until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm and deviation correction function ends.

[0072] In an optional embodiment, the system further includes a lane division module, which is used to divide each lane into a safety area, a hysteresis area and an alarm area along the center line of each lane to the lane lines on both sides thereof, define the boundary between the safety area and the hysteresis area as an alarm stop line, and define the boundary between the hysteresis area and the adjacent alarm area as an alarm start line; define the distance between the alarm start line and the lane line on the same side as a first distance threshold, and define the distance between the alarm stop line and the lane line on the same side as a second distance threshold.

[0073] In this embodiment, a computer device is provided, such as Figure 5 As shown, it includes a memory 501, a processor 502 and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned lane departure warning and deviation correction control methods is implemented.

[0074] Specifically, the computer device may be a computer terminal, a server or a similar computing device.

[0075] In this embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for executing any of the above-mentioned lane departure warning and deviation correction control methods.

[0076] Specifically, computer-readable storage media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media does not include transitory media such as modulated data signals and carrier waves.

[0077] Obviously, those skilled in the art should understand that the modules or steps of the above-mentioned embodiments of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. In this way, the embodiments of the present invention are not limited to any specific combination of hardware and software.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lane departure alarm and deviation correction control method, characterized in that: include: Detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time; When the intention is that the driver deviates unconsciously, when the front edge of the target vehicle is detected to enter the alarm area of ​​the driving lane, the alarm and deviation correction function is activated to alarm and correct the deviation until the front edge of the target vehicle leaves the alarm area and the hysteresis area of ​​the driving lane and enters its safety area; When the intention is for the driver to actively deviate, the alarm correction function is dynamically suppressed through a dynamic suppression strategy until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm correction function is ended.

2. The lane departure warning and correction control method according to claim 1, characterized in that: Also includes: Along the center line of each lane to the lane lines on both sides thereof, the lane is divided into a safety area, a hysteresis area and an alarm area, the boundary between the safety area and the hysteresis area is defined as an alarm stop line, and the boundary between the hysteresis area and the adjacent alarm area is defined as an alarm start line; The distance between the alarm start line and the lane line on the same side thereof is defined as a first distance threshold, and the distance between the alarm stop line and the lane line on the same side thereof is defined as a second distance threshold.

3. The lane departure warning and correction control method according to claim 2, characterized in that: Also includes: Collecting a road image by using a vehicle-mounted camera of the target vehicle, and obtaining a first real-time distance between the front edge of the target vehicle and the lane line of the driving lane according to the road image; If the first real-time distance is less than or equal to a first distance threshold, it is determined that the front edge of the target vehicle is in the hysteresis area of ​​the driving lane; if the first real-time distance is less than or equal to a second distance threshold, it is determined that the front edge of the target vehicle is in the warning area of ​​the driving lane; When the front edge of the target vehicle is in the hysteresis area or the warning area, it is determined that the target vehicle has an intention to deviate from the driving lane.

4. The lane departure warning and correction control method according to claim 1, characterized in that: The detecting the intention of the target vehicle to deviate from the driving lane based on the real-time dynamic data of the target vehicle collected in real time includes: Collecting real-time dynamic data of the target vehicle in real time, and when the real-time dynamic data is greater than or equal to a preset threshold, judging that the intention is that the driver actively deviates; when the real-time dynamic data is less than the preset threshold, judging that the intention is that the driver unconsciously deviates; The real-time dynamic data includes dynamic control parameters and dynamic characteristic parameters, and the preset thresholds include control thresholds corresponding to the dynamic control parameters and characteristic thresholds corresponding to the dynamic characteristic parameters.

5. The lane departure warning and correction control method according to claim 4, characterized in that: The dynamic control parameter includes any one of the steering wheel torsion bar torque, the depth or change rate of the brake pedal, and the depth or change rate of the accelerator pedal; and the dynamic characteristic parameter includes any one of the vehicle lateral acceleration, the vehicle longitudinal acceleration, and the vehicle yaw angular velocity.

6. The lane departure warning and correction control method according to claim 1, characterized in that: The dynamic suppression strategy includes: When it is identified that the deviation of the target vehicle is an active deviation by the driver according to the collected real-time dynamic data of the target vehicle, the suppression control of the alarm deviation correction function is started; Detect a second real-time distance between the front edge of the target vehicle and the lane line of the driving lane, and after identifying that the front edge of the target vehicle has left the hysteresis area of ​​the new lane and entered its safety area based on the second real-time distance, end the suppression control of the alarm correction function.

7. A lane departure warning and correction control system, characterized in that: include: A vehicle dynamic data acquisition module, wherein the vehicle dynamic data acquisition module is used to acquire real-time dynamic data of a target vehicle; A lane departure intention discrimination module, the lane departure intention discrimination module is used to detect the intention of the target vehicle to deviate from the driving lane according to the real-time dynamic data; An alarm and deviation correction activation module, wherein the alarm and deviation correction activation module is used to activate the alarm and deviation correction function to perform an alarm and deviation correction when the front edge of the target vehicle enters the alarm area of ​​the driving lane when the intention is that the driver deviates unconsciously, until the front edge of the target vehicle leaves the alarm area and the hysteresis area of ​​the driving lane and enters its safety area; An alarm and deviation correction suppression module is used to dynamically suppress the alarm and deviation correction function through a dynamic suppression strategy when the intention is for the driver to actively deviate, until the front edge of the target vehicle leaves the hysteresis area of ​​the new lane and enters its safety area, and then the suppression control of the alarm and deviation correction function ends.

8. The lane departure warning and correction control system according to claim 7, characterized in that: Also includes: A lane division module, the lane division module is used to divide each lane into a safety area, a hysteresis area and an alarm area along the center line of each lane to the lane lines on both sides thereof, define the boundary between the safety area and the hysteresis area as an alarm stop line, and define the boundary between the hysteresis area and the adjacent alarm area as an alarm start line; define the distance between the alarm start line and the lane line on the same side as a first distance threshold, and define the distance between the alarm stop line and the lane line on the same side as a second distance threshold.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the lane departure warning and correction control method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for executing the lane departure warning and deviation correction control method according to any one of claims 1 to 6.

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