Lane departure warning method, device, controller, vehicle and medium

Abstract

The application relates to a lane deviation warning method and device, a controller, a vehicle and a medium. The method comprises the following steps: acquiring vehicle state information of a vehicle; determining a deviation state level of the vehicle based on the vehicle state information, wherein different deviation state levels represent different degrees of deviation of the vehicle relative to a lane line; controlling an atmosphere lamp in the vehicle to perform driving warning in a warning mode matched with the deviation state level, wherein different warning modes present different driving warning intensities. The method can improve the warning effect of lane deviation.

Description

Technical Field

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

[0002] With the increasing intelligence of automobiles, lane keeping assist systems have become an important feature for improving driving safety. Related technologies primarily rely on lane line recognition based on vision or radar sensors. When the system detects that the vehicle is deviating from its lane without active steering, it can warn the driver through methods such as flashing dashboard icons, emitting beeps, or vibrating the steering wheel. However, the warning effectiveness of these technologies against lane departure is limited. Summary of the Invention

[0003] Based on this, this application addresses the aforementioned technical problems by providing a lane departure warning method, device, controller, vehicle, and medium that can improve the warning effect.

[0004] Firstly, this application provides a lane departure warning method, including:

[0005] Obtain vehicle status information;

[0006] The vehicle's offset state level is determined based on the vehicle state information, and different offset state levels represent different degrees of offset of the vehicle relative to the lane lines.

[0007] The ambient lights in the vehicle are controlled to provide driving warnings according to a warning mode that matches the offset state level. Different warning modes present different driving warning intensities.

[0008] In the aforementioned lane departure warning method, the vehicle's lane departure status is classified into different levels. By precisely determining the degree of lane departure based on the level of lane departure status, the ambient lights are controlled to provide a warning according to the warning mode that matches the level of lane departure status. The ambient lights can present a warning intensity corresponding to the degree of lane departure, which improves the targeting of lane departure warning through ambient lights. This allows the driver to quickly understand the severity of the current lane departure by intuitively perceiving the status displayed by the ambient lights, thereby improving the warning effect of lane departure.

[0009] In an optional embodiment of the first aspect, the vehicle state information includes steering wheel information and lane perception information; determining the vehicle's offset state level based on the vehicle state information includes: determining the target offset of the vehicle relative to the lane line based on the steering wheel information, lane perception information and vehicle size parameters; and determining the vehicle's offset state level based on the target offset and an offset threshold.

[0010] In this optional embodiment, the target offset of the vehicle relative to the lane line is determined by combining steering wheel information, lane perception information and vehicle size parameters. The offset state level is determined based on the target offset and the offset threshold, which can realize the quantitative assessment of the degree of lane offset, which is conducive to improving the targeting of lane offset warning and thus improving the warning effect of lane offset.

[0011] In an optional embodiment of the first aspect, determining the target offset of the vehicle relative to the lane line based on steering wheel information, lane perception information, and vehicle size parameters includes: determining the yaw angle of the vehicle based on the steering wheel information, the yaw angle representing the angle between the vehicle's front orientation and the lane line along the driving direction; determining the lateral offset of the vehicle based on the lane perception information, the lateral offset representing the distance from the center position of the vehicle to the lane line; and determining the target offset of the vehicle relative to the lane line based on the yaw angle, the lateral offset, and the vehicle size parameters.

[0012] In this optional embodiment, the target offset of the vehicle is determined by combining the yaw angle, lateral offset, and vehicle size parameters, which improves the accuracy of lane departure assessment for different vehicle models and attitudes.

[0013] In an optional embodiment of the first aspect, the vehicle status information includes gear information, vehicle speed information, and turn signal information; determining the vehicle's offset status level based on the vehicle status information includes: in response to determining that the vehicle meets the warning function activation conditions based on the gear information, vehicle speed information, and turn signal information, determining the vehicle's offset status level based on the vehicle status information.

[0014] In this optional embodiment, when the conditions for activating the warning function are met based on gear information, vehicle speed information, and turn signal information, lane departure warning processing is triggered, which can effectively reduce the false alarm rate of lane departure warning.

[0015] In an optional embodiment of the first aspect, controlling the ambient lights in a vehicle to provide driving warnings according to a warning mode matching the level of deviation includes: determining a warning mode matching the level of deviation; determining the duration of the vehicle not turning in the correct direction based on steering wheel information in the vehicle status information; determining the display mode corresponding to the ambient lights in the vehicle from the warning modes according to the duration, and controlling the ambient lights to provide driving warnings according to the display mode; wherein the driving warning intensity corresponding to different display modes is positively correlated with the corresponding duration; the display mode includes at least one of the following: ambient light display color, flashing frequency, display brightness, display light effect, and display area.

[0016] In this optional embodiment, the controller determines a matching warning mode based on the lane departure level, ensuring that the warning signal corresponds to the objectively existing physical lane departure hazard level and guaranteeing the basic accuracy of the warning intervention. The controller incorporates the duration of the failure to turn in the correct direction to determine the corresponding ambient light display mode from the warning modes. This achieves dynamic adaptive escalation of the warning signal as the hazard duration increases, balancing the rationality of the initial warning with the sense of urgency in an emergency, effectively improving the lane departure warning effect. Furthermore, the warning mode display mode includes at least one of multiple dimensions such as display color, flashing frequency, display brightness, display light effect, and display area, enabling precise warnings based on different degrees of lane departure through ambient lighting, thereby enhancing the warning effect.

[0017] In an optional embodiment of the first aspect, the lane departure warning method further includes: controlling a co-alert system in the vehicle to provide a driving warning according to a warning mode; wherein the co-alert system includes at least one of an audible alarm system, an instrument panel icon warning system, or a steering wheel vibration system.

[0018] In this optional embodiment, at least one of the following collaborative warning systems—a sound alarm system, a dashboard icon warning system, or a steering wheel vibration system—is used to assist ambient lighting in providing driving warnings, thereby enhancing the transmission dimension of driving warning information and improving the warning effect.

[0019] Secondly, this application also provides a lane departure warning device, comprising:

[0020] The acquisition module is used to acquire vehicle status information;

[0021] The determination module is used to determine the vehicle's offset state level based on vehicle state information. Different offset state levels represent different degrees of vehicle offset relative to the lane lines.

[0022] The control module controls the ambient lighting in the vehicle and provides driving warnings according to the warning modes that match the level of vehicle offset. Different warning modes present different levels of driving warning.

[0023] Thirdly, this application also provides a controller, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the methods described above.

[0024] Fourthly, this application also provides a vehicle including ambient lighting and the controller provided in the third aspect above.

[0025] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any of the above aspects.

[0026] Sixthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above aspects.

[0027] Regarding the beneficial effects of any of the technical solutions in the second to sixth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of an optional flow of a lane departure warning method in one embodiment;

[0030] Figure 2 This is a schematic diagram of an optional process for determining the target offset in one embodiment;

[0031] Figure 3 This is a schematic diagram of one possible location for the maximum offset in one embodiment;

[0032] Figure 4 This is a schematic diagram of an optional flow of the lane departure warning method in another embodiment;

[0033] Figure 5 This is a schematic diagram of an optional structure of the lane departure warning device in one embodiment;

[0034] Figure 6 This is a schematic diagram of an optional internal structure of the controller in one embodiment. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0036] The terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0037] In one exemplary embodiment, such as Figure 1 As shown, a lane departure warning method is provided. Taking the application of this method to a controller in a vehicle as an example, the method includes the following steps S101 to S103. Wherein:

[0038] Step S101: Obtain vehicle status information.

[0039] Vehicle status information refers to data characterizing the vehicle's current motion posture, location environment, and driver operation behavior. The controller can acquire vehicle status information from the forward-facing camera, the vehicle bus, and various body sensors. For example, the image signal of the road ahead captured by the camera and the electrical signal output by the steering wheel angle sensor can both serve as vehicle status information. Similarly, vehicle speed information received by the controller from the CAN (Controller Area Network) bus can also be considered vehicle status information.

[0040] Optionally, the controller in the vehicle, such as the vehicle controller or area controller, can acquire vehicle status information. For example, the controller can acquire vehicle status information by connecting to various sensors and data buses in the vehicle. In some embodiments, the controller can obtain real-time vehicle speed information from the vehicle speed sensor; obtain steering wheel information from the angle sensor on the steering column; obtain the on / off status signal of the turn signal switch from the body controller to obtain turn signal information; and receive lane image information from the front camera module. For example, the vehicle status information acquired by the controller at a certain moment may include: vehicle speed 80 km / h, steering wheel turned 3 degrees to the right, left turn signal off, and one frame of forward view image.

[0041] In some embodiments, the vehicle status information acquired by the controller may include:

[0042] Vehicle speed information: Used to determine the real-time speed of the vehicle (km / h, kilometers per hour);

[0043] Turn signal information: Used to determine whether the user has turned on the turn signal;

[0044] Gear information: Used to determine the user's gear position, including drive / park / reverse;

[0045] Steering wheel information: Used to calculate the yaw angle, which represents the angle between the vehicle's heading and the center line of the lane.

[0046] Step S102: Determine the vehicle's offset state level based on the vehicle state information. Different offset state levels characterize different degrees of vehicle offset relative to the lane lines.

[0047] The lane departure level is a classification of the degree of lane departure obtained by the controller based on the relative position of the vehicle and the lane lines. Lane lines are markings used to define and separate driving areas on the road, such as lane center lines. The degree of lane departure describes how much the vehicle's current position and attitude deviates from the ideal lane center position, objectively and quantitatively reflecting the severity of the lane departure. Multiple lane departure levels can be included, such as a safe level indicating a minor deviation, a second level indicating a lane-crossing deviation, and a third level indicating a lane-crossing deviation.

[0048] For example, the controller can analyze the vehicle's deviation relative to the lane lines based on vehicle state information to determine the corresponding deviation state level according to the degree of deviation. In some embodiments, the controller can perform comprehensive analysis and calculation on the vehicle state information, transforming it into an intermediate parameter that can quantify the degree of vehicle deviation. For example, the controller can map dynamic parameters such as steering wheel angle and yaw rate in the vehicle state information with lane line position information obtained from visual perception to obtain an intermediate parameter representing the degree of vehicle deviation. The controller can map the intermediate parameter representing the degree of vehicle deviation to determine the corresponding deviation state level. Each deviation state level can correspond to a range of intermediate parameters. In some embodiments, the controller can compare the intermediate parameter of vehicle deviation with preset thresholds for various deviation state levels to determine the threshold range into which the intermediate parameter falls, and determine the deviation state level corresponding to that threshold range as the vehicle's deviation state level.

[0049] In some embodiments, the controller can use lane perception information included in the vehicle status information to determine the lateral offset of the vehicle from the lane lines, and combine this with steering wheel information in the vehicle status information to determine the vehicle's yaw angle. The controller can then determine a target offset that comprehensively reflects the overall degree of vehicle offset based on the lateral offset and the yaw angle. The controller can compare the target offset with pre-stored multi-level thresholds to map the continuous target offset into discrete levels, such as offset status levels like "safe," "Level 1 warning," "Level 2 alarm," or "Level 3 alarm."

[0050] Step S103: Control the ambient lights in the vehicle to provide driving warnings according to the warning mode that matches the offset state level. Different warning modes present different driving warning intensities.

[0051] Ambient lighting is a lighting device installed inside a vehicle to create a specific interior environment through light rendering. Ambient lighting can be placed on the dashboard, door panels, footwells, headliner, etc. Warning modes are pre-set operating modes for ambient lighting to respond to different levels of deviation. Each warning mode corresponds to a specific operating mode of the ambient lighting, allowing the ambient lighting to present different levels of driving warning intensity. Driving warning intensity describes the warning effect of the warning information presented by the ambient lighting on the driver. In some embodiments, warmer or more vibrant colors (such as red contrasting with blue), higher flashing frequencies, and greater brightness can correspond to higher driving warning intensity. For example, a low-intensity warning could be: the ambient lighting presents a static, low-brightness blue light; or a high-intensity warning could be: the ambient lighting flashes alternately between the brightest red and white at a very high frequency (such as 5Hz).

[0052] Optionally, the controller can determine an alert mode that matches the offset state level. For example, it can determine the alert mode that matches the offset state level from a pre-built mapping relationship. The pre-built mapping relationship can define the matching relationship between various offset state levels and various alert modes. For example, when the offset state level is "Level 1 Offset", the matching alert mode can be determined as "Mode A" based on the mapping relationship. The alert mode can include control parameters for the ambient light, such as at least one of various control parameters including but not limited to the target color code of the ambient light, the target flashing frequency, and the target brightness percentage.

[0053] In some embodiments, the controller can control the ambient lighting in the vehicle to provide driving warnings based on control parameters in the warning mode. In some embodiments, the controller can calculate the duty cycle of each color channel using PWM (Pulse Width Modulation) control principles based on the target brightness percentage and target color code in the control parameters, and write the duty cycle value into the PWM register. The controller can also set a timer interrupt based on the target flashing frequency in the control parameters to control the on / off cycle of the light output path. After receiving the PWM signal and switching signal from the controller, the ambient lighting drive circuit can drive the ambient lighting to emit light according to a predetermined frequency, brightness, and color to provide driving warnings. In some embodiments, different offset state levels trigger different warning modes, resulting in differentiated lighting effects from the ambient lighting, allowing the driver to intuitively perceive changes in the intensity of the driving warning.

[0054] In some embodiments, the vehicle status information includes steering wheel information, lane perception information, gear information, vehicle speed information, and turn signal information. The controller can determine whether the ambient lighting warning function is activated based on the gear information, vehicle speed information, and turn signal information. When the warning function is activated, the controller can comprehensively determine the maximum offset D (target offset) based on the steering wheel information, lane perception information, and vehicle size parameters; determine the vehicle's offset state level based on the maximum offset D; and determine the target RGB (Red-Green-Blue) value, target flashing frequency, and target brightness of the ambient lighting based on the offset state level, and control the ambient lighting based on the target values. In some embodiments, the controller can also comprehensively determine the target RGB value, target flashing frequency, and target brightness of the ambient lighting based on the maximum offset D and the offset state time, and control the ambient lighting based on the target values. In some embodiments, at least one of the audible alarm system, instrument panel icon warning system, and steering wheel vibration system can also be activated simultaneously to provide prompts to the driver as much as possible, enabling the driver to correct the direction in time and prevent accidents.

[0055] In the aforementioned lane departure warning method, the vehicle's lane departure status is classified into different levels. By precisely determining the degree of lane departure based on the level of lane departure status, the ambient lights are controlled to provide a warning according to the warning mode that matches the level of lane departure status. The ambient lights can present a warning intensity corresponding to the degree of lane departure, which improves the targeting of lane departure warning through ambient lights. This allows the driver to quickly understand the severity of the current lane departure by intuitively perceiving the status displayed by the ambient lights, thereby improving the warning effect of lane departure.

[0056] In an exemplary embodiment, the vehicle state information includes steering wheel information and lane perception information; determining the vehicle's offset state level based on the vehicle state information includes: determining the target offset of the vehicle relative to the lane line based on the steering wheel information, lane perception information, and vehicle size parameters; and determining the vehicle's offset state level based on the target offset and an offset threshold.

[0057] Steering wheel information is used to characterize the driver's steering input, and based on this information, the vehicle's future trajectory or yaw attitude can be determined. For example, when the driver turns the steering wheel 30 degrees to the left, the controller can acquire a steering wheel angle of "+30 degrees"; when the vehicle is traveling in a straight line, the controller can acquire a steering wheel angle of "0 degrees". The controller can obtain steering wheel information from the steering wheel angle sensor via the vehicle bus, such as the CAN (Controller Area Network) bus. Lane perception information can be collected by environmental perception devices, such as at least one of a forward-facing camera or radar. Based on lane perception information, the relative position of the vehicle and lane lines can be determined. For example, the distance from the vehicle's center position to the lane centerline can be determined based on lane perception information. Dimensional parameters refer to the physical dimensions of the vehicle, such as its length and width.

[0058] The target offset is the distance from the vehicle body to the lane line. For example, it can represent the distance from the point on the vehicle body closest to (or most likely to make contact with) the lane line to the lane centerline. The target offset represents the degree of vehicle deviation relative to the lane line. The offset threshold is one or more pre-set distance thresholds used to classify different offset levels. The offset threshold can be related to the lane width L, such as being expressed as a certain proportion of the lane width to accommodate lanes of different widths. By comparing the target offset with the offset threshold, the current offset level of the vehicle can be determined based on the numerical range within which the target offset falls.

[0059] For example, the controller can acquire vehicle size parameters, such as vehicle dimensions and width. The controller can combine the vehicle size parameters, steering wheel information, and lane perception information included in the vehicle status information to determine the target offset of the vehicle relative to the lane lines. In some embodiments, the controller can calculate the target offset based on a preset geometric model, using the vehicle size parameters, steering wheel information, and lane perception information. The geometric model can integrate the lane perception information, steering wheel information, and size parameters according to the vehicle's kinematics and geometry to obtain the target offset. In some embodiments, the controller can also determine the target offset using a query or mapping method. For example, the controller can use information pairs (size parameters, steering wheel information, lane perception information) as indexes to query pre-defined mapping relationships to determine the target offset of the vehicle relative to the lane lines.

[0060] The controller can determine a preset offset threshold and compare the target offset with the offset threshold to determine the vehicle's offset state level based on the comparison result. In some embodiments, the offset threshold may include multiple offset thresholds, which can divide the possible range of the target offset into multiple consecutive intervals. Each interval corresponds to an offset state level. The controller can determine the interval in which the target offset falls based on the comparison result between the target offset and each offset threshold, thereby determining the offset state level corresponding to that interval as the vehicle's offset state level.

[0061] In this exemplary embodiment, the target offset of the vehicle relative to the lane line is determined by combining steering wheel information, lane perception information and vehicle size parameters. The offset state level is determined based on the target offset and the offset threshold. This can achieve a quantitative assessment of the degree of lane offset, which is beneficial to improve the targeting of lane offset warnings and thus enhance the warning effect of lane offset.

[0062] In one exemplary embodiment, such as Figure 2 As shown, the process for determining the target offset, i.e., based on steering wheel information, lane perception information, and vehicle size parameters, determines the target offset of the vehicle relative to the lane line, includes steps S201 to S203. Wherein:

[0063] Step S201: Determine the vehicle's yaw angle based on the steering wheel information. The yaw angle represents the angle between the vehicle's front facing the lane line along the driving direction.

[0064] The yaw angle is the angle between the vehicle's heading and the extension of the lane centerline along the vehicle's direction of travel. The yaw angle is a scalar quantity, expressed in degrees or radians, and its magnitude directly reflects the degree of discrepancy between the vehicle's direction and the lane's direction. Optionally, the controller can analyze steering wheel information to determine the vehicle's yaw angle. For example, the controller can combine current vehicle speed information with filtering and model compensation of the steering wheel angle sensor signal from the steering wheel information to obtain the vehicle's yaw angle.

[0065] Step S202: Determine the lateral offset of the vehicle based on the lane perception information. The lateral offset represents the distance from the center position of the vehicle to the lane line.

[0066] The lateral offset represents the distance from the vehicle's center position to the lane line, such as the distance from the vehicle's center position to the lane center line. For example, the controller can use the vehicle's own positioning information to convert the lane line data included in the lane perception information to the vehicle coordinate system, and calculate the vertical distance from the vehicle's center point (or other preset reference point) to the specified lane line (such as the left lane line, right lane line, or center line), thereby obtaining the vehicle's lateral offset.

[0067] Step S203: Based on the yaw angle, lateral offset, and vehicle size parameters, determine the target offset of the vehicle relative to the lane line.

[0068] Optionally, the controller can calculate the target offset of the vehicle relative to the lane line based on the yaw angle, lateral offset, and vehicle size parameters.

[0069] In some embodiments, a forward-facing camera can be installed above the inner side of the vehicle's windshield. This camera can clearly capture image information in front of the vehicle. The controller can preprocess the raw image captured by the forward-facing camera, identify lane information in the image, and obtain the vehicle's relative position information. For example... Figure 3 As shown, the controller can determine the vehicle's yaw angle based on steering wheel information, determine the vehicle's lateral offset based on the raw image captured by the forward-facing camera, and, in conjunction with the vehicle's size parameters, determine the target offset of the vehicle relative to the lane lines. The target offset is specifically the maximum offset. The formula is as follows:

[0070]

[0071] Among them, the lateral offset : Distance from the center of the vehicle to the center line of the lane (meters);

[0072] Yaw angle : The angle (in degrees) between the front of the vehicle and the center line of the lane;

[0073] Maximum offset : The distance (in meters) between the maximum deviation of the vehicle from the center line of the lane.

[0074] In this exemplary embodiment, the target offset of the vehicle is determined by combining the yaw angle, lateral offset, and vehicle size parameters, which improves the accuracy of lane departure assessment for different vehicle models and attitudes.

[0075] In an exemplary embodiment, the vehicle status information includes gear information, vehicle speed information, and turn signal information; determining the vehicle's offset status level based on the vehicle status information includes: in response to determining that the vehicle meets the warning function activation conditions based on the gear information, vehicle speed information, and turn signal information, determining the vehicle's offset status level based on the vehicle status information.

[0076] The gear position information reflects the driver's intention and the vehicle's expected direction of movement, such as "Drive (D)," "Reverse (R)," "Park (P)," or "Neutral (N)." The controller can obtain the gear position information from the transmission control unit via the vehicle's CAN bus. In some embodiments, when the vehicle's gear position information is "D," it indicates that the driver intends to move the vehicle forward, and the vehicle is at risk of lane departure. When the vehicle's gear position information is "P" or "R," it indicates that the vehicle is in a parking or reversing state, and the conventional lane keeping and lane departure warning functions are meaningless; that is, lane departure warning processing is not required in this case.

[0077] Vehicle speed information can include the vehicle's travel speed. Turn signal information indicates the current operating status of the vehicle's turn signals, such as "left turn signal on," "right turn signal on," or "turn signal off." Based on the turn signal information, the driver's intention to change lanes can be inferred. When the turn signal is on, it means that the driver has expressed a plan to change the driving trajectory through standard operation. At this time, the conventional lane keeping and lane departure warning functions are meaningless; that is, lane departure warning processing is not required.

[0078] The warning function activation condition is used to determine whether the vehicle has activated the warning function, that is, whether lane departure warning is required. When the warning function activation condition is met, it indicates that lane departure warning is required for the vehicle. The warning function activation condition may include at least one sub-condition, such as at least one of various sub-conditions including but not limited to "the vehicle is moving forward", "the vehicle speed is within the effective monitoring range", and "the driver has no clear intention to change lanes".

[0079] For example, the controller can acquire the warning function activation conditions, which can be preset or dynamically configured according to the vehicle's operating conditions. Based on these conditions, the controller can determine whether the vehicle meets the warning function activation conditions by analyzing the gear position, speed, and turn signal information included in the vehicle status information. For instance, the controller can determine whether the vehicle is in drive based on the gear position information, whether it exceeds a speed threshold (which can be a fixed threshold or dynamically set based on speed information) based on the speed information, and whether the turn signal is off based on the turn signal information, thereby determining whether the warning function activation conditions are met. For example, the controller only determines that the current scenario meets the warning function activation conditions when all three conditions—"gear is in drive," "speed exceeds the speed threshold," and "turn signal is off"—are met, thus allowing the controller to determine the vehicle's deviation status level based on the vehicle status information.

[0080] In this exemplary embodiment, when the conditions for activating the warning function are met based on gear information, vehicle speed information, and turn signal information, lane departure warning processing is triggered, which can effectively reduce the false alarm rate of lane departure warning.

[0081] In an exemplary embodiment, controlling the ambient lighting in a vehicle to provide driving warnings according to a warning mode matching the level of vehicle deviation includes: determining a warning mode matching the level of vehicle deviation; determining the duration of the vehicle not turning in the correct direction based on steering wheel information in the vehicle status information; determining the display mode corresponding to the ambient lighting in the vehicle from the warning modes according to the duration, and controlling the ambient lighting to provide driving warnings according to the display mode; wherein, the driving warning intensity presented by different display modes is positively correlated with the corresponding duration; the display mode includes at least one of the following: ambient lighting display color, flashing frequency, display brightness, display light effect, and display area.

[0082] The duration reflects the driver's slow response to the vehicle drift hazard. The duration can be the time from when the vehicle enters a certain drift state level and the driver fails to make an effective corrective action until the current moment. In some embodiments, the controller can monitor the vehicle's status information in real time. When it determines that the vehicle has drifted and the steering wheel has not been turned in the direction to eliminate the drift, the controller can start timing logic, continuously accumulating the time difference until correct steering is detected or the drift state is resolved. For example, when the vehicle drifts to the right and enters the first level drift state, and the driver does not turn the steering wheel to the left, the controller can record the timing from the start of entering this state. If no correction is made after 3 seconds, that 3 seconds is the duration. As another example, when the vehicle is in the second level lane-crossing state, and the driver is holding the steering wheel but does not make a reverse turn, the controller can record that the duration of this lack of corrective action reaches 5 seconds, thus determining that the duration of the vehicle not turning in the correct direction is 5 seconds.

[0083] The display mode is how ambient lighting conveys lane departure information to the driver. Different display modes correspond to a positive correlation between the intensity of the driving warning and its duration. The display mode can include at least one of the following: the ambient lighting's display color, flashing frequency, display brightness, display light effect, and display area. In some embodiments, the controller can dynamically determine the display mode for the ambient lighting based on the warning mode corresponding to the current lane departure level, combined with the duration, through table lookup or algebraic calculations.

[0084] The display color refers to the color displayed by the ambient lighting inside the vehicle during warning processes. For example, when the controller determines that the vehicle is in a safe state, it can control the ambient lighting to a soft blue to indicate that the vehicle is operating smoothly and provide a comfortable driving environment. Conversely, when the controller determines that the vehicle is in a first-level deviation state (about to cross the line), it can switch the ambient lighting to a bright orange to indicate a potential deviation risk, using the unique warning effect of orange to attract the driver's attention.

[0085] The flashing frequency, measured in Hertz (Hz), refers to the number of times the ambient lighting inside the vehicle completes its on-off cycle per unit of time. It is used to convey a sense of urgency and danger to the driver through the rapidity of the visual flashing. The flashing frequency can be calculated and generated by the controller based on the current level of vehicle drift and the duration of the driver's failure to correct the drift. In some embodiments, a higher flashing frequency results in a stronger visual sense of urgency and a higher warning level. For example, when the vehicle is in a Level 2 drift (driving over the lane lines), the controller can control the ambient lighting to flash at a frequency of approximately 3 Hz, i.e., 3 times per second, to alert the driver that they are on the verge of danger. Similarly, if the vehicle enters a Level 3 drift (driving across the lane lines) and the driver fails to correct the direction in time, the controller can increase the flashing frequency to approximately 5 Hz or even higher. This rapid flashing pattern strongly stimulates the driver's vision, prompting them to take immediate evasive action.

[0086] Display brightness refers to the luminous intensity of the ambient lighting inside the vehicle. Display brightness can be controlled by adjusting the duty cycle of the PWM signal. The value of the display brightness determines the prominence of warning information in ambient light; the higher the brightness, the easier it is for the driver to detect it in their surroundings. For example, when the vehicle is in a safe driving state, the controller can control the ambient lighting display brightness to a low level of around 20%, making it only a soft ambient light to avoid interfering with the driver's vision. Conversely, when the vehicle is in a Level 3 drift state with a collision risk, the controller can increase the display brightness to 100% full brightness, ensuring clear perception by the driver in both bright daylight and complex nighttime lighting conditions.

[0087] Display lighting effects refer to the changing effects of ambient lighting, used to enhance the richness and depth of warning information. Display lighting effects can include gradual brightness transitions, as well as dynamic spatial effects such as flowing lights or breathing lights. For example, the controller can use a brightness transition method to achieve a breathing light effect. Another example is when the controller detects a continuous vehicle deviation and the driver does not respond, it can control the ambient lighting to display a flowing light effect, where the light flows rapidly from one side of the vehicle to the other, visually guiding the driver to correct the steering wheel in the opposite direction.

[0088] The display area refers to the physical location distribution of the ambient lighting system within the vehicle that participates in luminous warnings. This area can encompass at least one of the following: the dashboard, door panels, center console, or other different parts. The controller can achieve spatial positioning of warning information by controlling the activation, deactivation, or linkage of ambient lights in different areas. For example, when the vehicle is veering left and about to cross the lane line, the controller can activate only the ambient light area along the driver's left door window sill to flash as a warning, visually indicating the danger on the driver's left side using the spatial position of the light source. Similarly, when the vehicle is in an extremely dangerous lane-crossing situation, the controller can control all ambient lights throughout the vehicle to simultaneously enter a red flashing mode, creating a comprehensive and immersive warning space, ensuring the driver receives the warning signal regardless of their gaze.

[0089] Optionally, the controller can determine the warning mode based on the mapping relationship between different offset state levels and matching warning modes. The warning mode can define the range of control parameters and progressive logic that the ambient light can use at that offset state level. For example, when the controller confirms that the offset state level is the first-level offset state level, the controller can match the corresponding warning mode as a set of rules consisting of an orange base color, a medium brightness range, and a low-to-medium frequency flashing range.

[0090] The controller can calculate the duration of the vehicle's incorrect steering based on steering wheel information from the vehicle status information. In some embodiments, the controller can set a correct steering determination threshold by combining the current vehicle's offset direction. The controller can compare the actual steering wheel rotation direction with the theoretical correction direction required to eliminate the current offset based on the steering wheel information. If the two directions are inconsistent or the steering wheel angle does not exceed the correction threshold, the controller can determine that the vehicle is not steering in the correct direction. The controller can trigger a timer or maintain the timer based on an existing timer to determine the duration of incorrect steering. For example, if the vehicle deviates to the left and crosses the line, the correct direction should be to turn the steering wheel to the right. If the controller detects that the steering wheel angle signal is always zero or continues to turn to the left based on the steering wheel information, the controller can determine that the vehicle is not steering correctly and start timing, calculating the duration as 2 seconds.

[0091] The controller can determine the target control parameters for the ambient lights based on the duration of the warning, within the range of control parameters defined by the warning mode, thereby obtaining the corresponding display mode for the ambient lights in the vehicle. In some embodiments, the controller can use the duration as an independent variable to perform interpolation calculations or interval matching within the range of control parameters defined by the matched warning mode, thereby determining the target control parameters for the ambient lights. The driving warning intensity of the ambient lights can be reflected by parameters such as flashing frequency and brightness. The longer the duration, the higher the flashing frequency parameter and the greater the brightness parameter selected by the controller, that is, the driving warning intensity is positively correlated with the duration. The controller can convert this display mode into a PWM control signal and send it to the ambient light hardware for execution, thereby controlling the ambient lights to provide driving warnings according to the display mode. For example, in the warning mode of the first-level offset state, if the duration is less than 3 seconds, the controller can determine the display mode as 1 Hz flashing and 50% brightness; if the duration reaches 3 seconds, the controller can determine the display mode as 1.5 Hz flashing and 55% brightness, with the warning intensity increasing over time.

[0092] In this exemplary embodiment, the controller determines a matching warning mode based on the lane departure level, ensuring that the warning signal corresponds to the objectively existing physical lane departure hazard level and guaranteeing the basic accuracy of the warning intervention. The controller incorporates the duration of the failure to turn in the correct direction to determine the corresponding ambient light display mode from the warning modes. This achieves dynamic adaptive escalation of the warning signal as the hazard duration increases, balancing the rationality of the initial warning with the sense of urgency in an emergency, effectively improving the lane departure warning effect. Furthermore, the warning mode display mode includes at least one of multiple dimensions such as display color, flashing frequency, display brightness, display light effect, and display area, enabling precise warnings based on different degrees of lane departure through ambient lighting, thereby enhancing the warning effect.

[0093] In one exemplary embodiment, the lane departure warning method further includes: controlling a co-alert system in the vehicle to issue a driving warning according to a warning mode; wherein the co-alert system includes at least one of an audible alarm system, an instrument panel icon warning system, or a steering wheel vibration system.

[0094] Among them, the cooperative warning system is a device integrated into the vehicle to assist in lane departure warning. The audible alarm system uses in-vehicle audio equipment (speakers, buzzers) to emit specific sound signals to provide lane departure warning from an auditory perspective; the instrument panel icon warning system uses the vehicle's instrument panel display unit to display specific graphics, symbols, or text to provide lane departure warning from a visual perspective; and the steering wheel vibration system is built into the steering wheel and uses a vibration motor to generate mechanical vibrations to provide lane departure warning from a tactile perspective.

[0095] For example, in addition to controlling the ambient lighting in the vehicle for driving warnings, the controller can also control the vehicle's auxiliary warning system to assist the ambient lighting in driving warnings. For instance, for an audible alarm system, the controller can invoke the audio driver and, according to the warning mode, send a control data packet containing voice content encoding or beep frequency to the onboard audio processor, which then drives the speaker to emit sound. For an instrument panel icon warning system, the controller can send a message containing icon identifiers and display attributes according to the warning mode via the vehicle's CAN bus or a dedicated display interface; the instrument panel control unit parses the message and refreshes the display interface. For a steering wheel vibration system, the controller can output a PWM signal to the vibration motor drive circuit according to the warning mode, controlling the vibration intensity and frequency of the motor by adjusting the duty cycle.

[0096] In some embodiments, for the cooperative warning system, the controller can also determine the duration of the vehicle not turning in the correct direction based on the steering wheel information in the vehicle status information, and determine the target operating mode corresponding to the cooperative warning system from the warning modes according to the duration, and control the cooperative warning system to provide driving warnings according to the target operating mode. The target operating mode characterizes the warning intensity of the cooperative warning system that increases over time; that is, the warning intensity corresponding to different target operating modes is positively correlated with the corresponding duration.

[0097] For example, for an audible warning system, the controller can dynamically adjust the target operating mode of the sound based on the duration of the driver's misalignment. This target operating mode can include parameters such as the sound's playback frequency, volume, beep interval, or the urgency level of the voice content. For instance, when the vehicle is in a second-level lane departure state (crossing the lane), if the controller detects that the driver's misalignment has lasted for 3 seconds, it can control the audible warning system to shorten the interval of the voice prompts or switch the beeping frequency from low to high. If the duration reaches 5 seconds, the controller can further control the audible warning system to continuously play emergency voice prompts at maximum volume, such as "Danger crossing the lane, please correct your course immediately," forcing the driver to react quickly through auditory pressure. Similarly, in a first-level lane departure state, initially only one warning sound is played. If the duration exceeds 3 seconds, the controller can control the audible warning system to play two additional warnings, and so on, achieving a gradual increase in the intensity of the audible warning.

[0098] In some embodiments, for the dashboard icon warning system, the controller can dynamically adjust the target operating mode of the icon display based on the duration of the failure to correct the direction. This target operating mode can include parameters such as the icon's flashing frequency, display color, display size, or warning level with overlaid graphics. For example, when the vehicle is in a first-level drift state (about to cross the line), the dashboard initially displays only a static yellow warning icon. When the controller detects that the direction has not been corrected for 3 seconds, it can control the dashboard icon warning system to switch the yellow icon to a medium-speed flashing mode. When the duration reaches 5 seconds, the controller can further control it to become a high-frequency flashing red icon, and even overlay the red text "Caution: Direction Awareness" next to the icon for a stronger visual impact to alert the driver. As another example, in a third-level drift state, as the duration of failure to correct the direction increases, the controller can control the warning symbol on the dashboard to gradually enlarge and flash with a border to capture the driver's visual attention.

[0099] In some embodiments, for the steering wheel vibration system, the controller can dynamically adjust the target operating mode of the vibration based on the duration of the mis-steering. This target operating mode can include parameters such as vibration frequency, vibration amplitude, vibration duration, or vibration pattern (e.g., changing from short, intermittent vibration to continuous, long vibration). For example, in the initial stage of a second-level drift (line-crossing), the controller controls the steering wheel vibration system to perform three consecutive vibrations and then pause. If the controller calculates that the duration of the mis-steering reaches 3 seconds, it can adjust the target operating mode to control the steering wheel vibration system to perform intermittent vibrations at a higher frequency. If the duration reaches 5 seconds, the controller can output a continuous drive signal to control the steering wheel vibration system to perform continuous, strong vibrations until the driver begins to correct the steering. As another example, in a third-level drift state, as the time of mis-steering continues to increase, the controller can gradually increase the duty cycle of the PWM signal sent to the steering wheel vibration motor, thereby increasing the vibration amplitude over time and providing the driver's hands with increasingly strong tactile stimulation.

[0100] In some embodiments, when the vehicle deviates and the driver fails to correct the deviation in time, the controller can coordinate the collaborative warning system to provide progressive driving warnings. For example, within 0 to 3 seconds of the deviation, the controller controls the audible alarm system to make a regular announcement, the instrument panel displays a static icon, and the steering wheel vibrates slightly; when the duration exceeds 3 seconds, the controller can simultaneously upgrade the audible alarm to a high-frequency buzzer, upgrade the instrument panel icon to a red flashing icon, and upgrade the steering wheel vibration to a mid-frequency intermittent vibration; when the duration exceeds 5 seconds, the controller can further upgrade the audible alarm to a continuous announcement at maximum volume, upgrade the icon to a strobe icon with text, and upgrade the vibration to a continuous vibration at maximum amplitude.

[0101] In this exemplary embodiment, at least one of the following collaborative warning systems—a sound alarm system, a dashboard icon warning system, or a steering wheel vibration system—assists ambient lighting for driving warnings, thereby enhancing the transmission dimension of driving warning information and improving the warning effect.

[0102] This application also provides an application scenario in which the lane departure warning method described above is applied. Specifically, the lane departure warning method is applied in this scenario as follows:

[0103] With the modernization of roads, lane markings have become standard equipment. Whether a vehicle drives within the lane markings directly affects driving safety. To remind drivers to stay within their lane, related technologies mainly use audible alarms, dashboard icon warnings, or steering wheel vibrations to issue lane departure warnings. These systems include:

[0104] Sound alarm system: includes components such as buzzers and speakers, which alert the driver through sound signals;

[0105] Dashboard icon warning system: Warning icons are displayed on the in-vehicle display unit, requiring the driver to shift their gaze to observe them;

[0106] Steering wheel vibration system: A vibration motor generates vibrations inside the steering wheel to provide a feedback signal.

[0107] However, the relevant systems employ a binary "offset / no offset" warning logic, failing to finely classify the degree of deviation based on the relative distance between the vehicle and the lane lines. Drivers cannot quickly distinguish between different levels of danger, such as "about to cross the line," "crossing the line," and "crossing the line," leading to delayed reaction time and inappropriate responses. Furthermore, the warning methods of these technologies are limited in effectiveness and lack intuitiveness. Specifically, audible alarms are easily drowned out by noise in noisy environments; dashboard icon warnings require the driver to shift their gaze, posing a safety risk of distraction; and the perception of steering wheel vibration warnings varies from person to person and does not provide intuitive information on the level of danger. These warning methods fail to fully utilize the driver's primary field of vision, resulting in inefficient warning information delivery. In addition, the warning methods of these technologies lack intelligent judgment of driver intent. The systems still issue false alarms when the driver actively activates the turn signal to change lanes, generating interfering warnings. This design flaw stems from the system's failure to incorporate turn signal status into the warning logic, making it unable to distinguish between active lane changes and unintentional lane deviations—two completely different driving behaviors—severely impacting the system's usability and user experience.

[0108] The lane departure warning method provided in this application can be executed by the controller in the vehicle, such as... Figure 4 As shown, it includes:

[0109] Step S1: Determine if the vehicle is in drive, its speed is greater than 25 km / h, and its turn signal is not activated. If so, activate the ambient lighting warning function; otherwise, do not activate it. Acquire steering wheel information and lane perception information, and based on the steering wheel information, the lane perception information, and the vehicle's size parameters, determine the maximum offset D of the vehicle relative to the lane centerline.

[0110] In some embodiments, in addition to a fixed threshold (such as 25 km / h), vehicle speed can be determined using dynamic speed range calculation to prevent the warning function from opening and closing too frequently. In some embodiments, lane perception information is acquired through a forward-facing camera; alternatively, an external camera can be mounted on the front bumper or rearview mirror, employing a fusion perception scheme of front radar and camera, or a multi-view stereo vision system to enhance depth perception capabilities, thereby obtaining lane perception information.

[0111] Step S2: When the ambient light warning function is turned on, determine the vehicle's offset status level based on the maximum offset D;

[0112] The vehicle's drift status is classified into four levels based on the relative distance between the vehicle and the lane centerline:

[0113] 1. Security Status Level:

[0114] The maximum offset D is less than the first distance threshold between the lane centerline;

[0115] Condition: D < 0.45L (L is the lane width);

[0116] 2. First-level offset status (about to touch the line):

[0117] The maximum offset D is greater than or equal to the first distance threshold and less than the second distance threshold.

[0118] Condition: 0.45L ≤ D < 0.5L;

[0119] 3. Second-level offset status (line pressing status):

[0120] The maximum offset D is greater than or equal to the second distance threshold and less than the third distance threshold;

[0121] Condition: 0.5L ≤ D < 0.55L;

[0122] 4. Third-level offset status (cross-line status):

[0123] The maximum offset D is greater than or equal to the third distance threshold.

[0124] Condition: D≥0.55L.

[0125] In some embodiments, in addition to fixed threshold judgment, the distinction between offset state levels can be made by dynamic offset interval calculation, taking into account factors such as vehicle type, road width, and lane auxiliary line type to dynamically adjust the classification threshold.

[0126] Step S3: Based on the offset state level, determine the corresponding warning modes for the ambient lighting and the collaborative warning system, thereby determining various control parameters for the ambient lighting, such as the target RGB value, target flashing frequency, target brightness, target instrument prompts, target steering wheel vibration mode, and target voice prompts under the warning mode.

[0127] In some embodiments, ambient light control can employ methods such as brightness gradients, light effect changes (breathing lights, flowing lights, etc.), and warning area expansion, in addition to color and frequency-based layered warnings.

[0128] Step S4: Based on the various control parameters in the warning mode, provide driving warnings to the ambient lights and the collaborative warning system in the vehicle.

[0129] Specifically, for ambient lighting control, the ambient lighting can present the following layered warning modes based on the vehicle's offset status level:

[0130] 1. Normal working mode (safety status level):

[0131] When the vehicle is driving normally within the lane, the system enters a no-warning state. At this time, the ambient lighting emits a soft blue hue, maintaining a low brightness level (approximately 20%), operating in a constant-on mode without flashing; there are no instrument panel warnings; and the steering wheel experiences no vibration. This setting provides ambient lighting without interfering with the driver's experience.

[0132] 2. First warning mode (first level of offset status):

[0133] When the vehicle is about to cross the lane line, the system enters warning mode. The ambient lighting turns a bright orange, increasing brightness to a high level (approximately 50%), and adopts a regular flashing pattern (approximately 1Hz). The system records the vehicle's steering wheel information and time. If the steering wheel does not turn in the correct direction within 3 seconds (e.g., the vehicle veers to the right and crosses the lane line; the correct steering direction is to turn the steering wheel to the left), the flashing frequency increases (approximately 1.5Hz), and the brightness increases (approximately 55%). If the steering wheel is not in the correct direction within 5 seconds, the flashing frequency further increases (approximately 2Hz), and the brightness further increases (approximately 60%) for a more prominent warning effect. A voice prompt is given twice: "The vehicle is about to cross the lane line; please drive cautiously." The instrument panel remains still; the steering wheel does not vibrate. This setup promptly alerts the driver to pay attention and correct their steering.

[0134] 3. Second Warning Mode (Second Level Offset Status):

[0135] When the vehicle has crossed the lane lines, the system enters a danger state. The ambient lighting uses a more conspicuous red, reaching a high brightness level (approximately 70%), and employs a rapid flashing pattern (approximately 3Hz). If the steering wheel is not turned in the correct direction within 3 seconds, the flashing frequency increases (approximately 3.5Hz), and the brightness increases (approximately 75%). If the steering wheel is not in the correct direction within 5 seconds, the flashing frequency further increases (approximately 4Hz), and the brightness further increases (approximately 80%). A voice prompt says "You have crossed the lane lines, please correct your direction" three times; a warning symbol is displayed on the instrument panel; and the steering wheel vibrates three times consecutively. This prompts the driver to take immediate corrective action.

[0136] 4. Third Warning Mode (Third Level Offset Status):

[0137] When the vehicle deviates significantly from its lane and poses a collision risk, the system enters emergency mode. The ambient lighting remains a bright red, at 100% brightness, and flashes at a faster frequency (approximately 5Hz). If the steering wheel is not turned in the correct direction within 3 seconds, the flashing frequency increases (approximately 5.5Hz); if the steering wheel is not in the correct direction within 5 seconds, the flashing frequency increases further (approximately 6Hz). A continuous voice prompt reads, "You have crossed the lane and are driving dangerously; please correct your direction." A warning symbol is displayed on the instrument panel; the steering wheel vibrates continuously. This provides the most urgent alert.

[0138] In some embodiments, ambient lighting control can be implemented using PWM (Pulse Width Modulation) technology. For RGB LEDs (Light Emitting Diodes), three independent PWM channels are needed to control the brightness of the red, green, and blue LEDs respectively. By rapidly switching the LEDs on and off, and controlling the ratio of on / off time, fine-tuning of brightness can be achieved. The percentage of time the LED is energized within one cycle is called the duty cycle. The higher the duty cycle, the brighter the light. When the duty cycle is 0%, the light is off; when the duty cycle is 100%, the light is constantly on and at maximum brightness. Where:

[0139] Brightness calculation formula:

[0140]

[0141] Duty cycle, For each RGB channel color component, This represents a percentage of brightness.

[0142] PWM register value calculation (16-bit) formula:

[0143]

[0144] in, This is the PWM register.

[0145] The flashing frequency indicates the number of times the ambient light illuminates and fades per second. A higher flashing frequency enhances the warning effect. The flashing frequency of the warning lights is within the range of 1Hz to 4Hz. The controller can record the vehicle's steering wheel information and time. If the steering wheel is not turned in the correct direction within 3 seconds (e.g., the vehicle veers to the right and crosses the lane line; the correct steering direction is to turn the steering wheel to the left), the flashing frequency is increased. If the steering wheel is not in the correct direction within 6 seconds, the flashing frequency is further increased to achieve a more prominent warning effect. Specifically:

[0146] Flicker frequency calculation formula:

[0147]

[0148] The flashing frequency of the ambient light. This refers to the flashing cycle of the ambient light.

[0149] To achieve a graded warning effect, a brightness transition method can be used.

[0150] Brightness transition formula:

[0151]

[0152] in, : Current brightness; during the transition process, the brightness value that should be output at the current time t.

[0153] : Initial brightness, the brightness value before the transition begins, and also the initial brightness at the moment the transition begins;

[0154] Target brightness: The final brightness value to be achieved after the transition is complete;

[0155] : Current time, the timestamp of the current moment, indicating which point in time the brightness is being calculated;

[0156] Start time: The point at which the transition begins, serving as a time reference benchmark;

[0157] Transition time: The total time required for the initial brightness to change to the target brightness.

[0158] The lane departure warning method provided in this application enables lane departure warning signals to be transmitted without shifting the driver's gaze, significantly improving the efficiency of warning information transmission. Based on a layered warning strategy, different degrees of lane departure correspond to different ambient light colors and flashing frequencies, different steering wheel vibration patterns, and different voice warning prompts, allowing the driver to quickly distinguish the level of danger and greatly improving the accuracy of danger level judgment. In addition, the introduction of turn signal linkage can intelligently judge the driver's intention and suppress warnings during active lane changes, significantly improving the system's practicality and significantly reducing the false alarm rate. Moreover, the automatic disabling of the warning function at low speeds based on vehicle speed judgment avoids invalid warning interference, broadening the system's applicability. Through ambient lighting, instrument panel, steering wheel vibration, and voice alarms, visual, tactile, and auditory warning information is transmitted, maximizing the driver's effective reception and significantly improving the user experience.

[0159] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0160] Based on the same inventive concept, this application also provides a lane departure warning device for implementing the lane departure warning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more lane departure warning device embodiments provided below can be found in the limitations of the lane departure warning method described above, and will not be repeated here.

[0161] In one exemplary embodiment, such as Figure 5 As shown, a lane departure warning device 500 is provided, including: an acquisition module 501, a determination module 502, and a control module 503, wherein:

[0162] The acquisition module 501 is used to acquire vehicle status information.

[0163] The determination module 502 is used to determine the vehicle's offset state level based on the vehicle state information. Different offset state levels represent different degrees of vehicle offset relative to the lane lines.

[0164] The control module 503 is used to control the ambient lights in the vehicle and provide driving warnings according to the warning modes that match the offset status level. Different warning modes present different driving warning intensities.

[0165] In some embodiments, the vehicle status information includes steering wheel information and lane perception information; the determining module 502 is further configured to determine the target offset of the vehicle relative to the lane line based on the steering wheel information, lane perception information and vehicle size parameters; and determine the vehicle offset status level based on the target offset and an offset threshold.

[0166] In some embodiments, the determining module 502 is further configured to determine the yaw angle of the vehicle based on steering wheel information, wherein the yaw angle represents the angle between the vehicle's front orientation and the lane line along the driving direction; determine the lateral offset of the vehicle based on lane perception information, wherein the lateral offset represents the distance from the center position of the vehicle to the lane line; and determine the target offset of the vehicle relative to the lane line based on the yaw angle, the lateral offset, and the vehicle's size parameters.

[0167] In some embodiments, the vehicle status information includes gear information, vehicle speed information, and turn signal information; the determining module 502 is further configured to determine the vehicle's offset status level based on the vehicle status information when it is determined that the warning function activation conditions are met according to the gear information, vehicle speed information, and turn signal information.

[0168] In some embodiments, the control module 503 is further configured to determine a warning mode that matches the offset state level; determine the duration of the vehicle not turning in the correct direction based on the steering wheel information in the vehicle state information; determine the display mode corresponding to the ambient light in the vehicle from the warning modes according to the duration, and control the ambient light to provide driving warnings according to the display mode; wherein, the driving warning intensity presented by different display modes is positively correlated with the corresponding duration; the display mode includes at least one of the following: ambient light display color, flashing frequency, display brightness, display light effect, and display area.

[0169] In some embodiments, the lane departure warning device 500 further includes a co-warning module for controlling the co-warning system in the vehicle to provide driving warnings according to a warning mode; wherein the co-warning system includes at least one of an audible alarm system, an instrument panel icon warning system, or a steering wheel vibration system.

[0170] Each module in the aforementioned lane departure warning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the controller in hardware form or independent of it, or stored in the memory of the controller in software form, so that the processor can call and execute the corresponding operations of each module.

[0171] In one exemplary embodiment, a controller is provided, the internal structure of which can be shown in the following diagram. Figure 6 As shown, the controller includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores various data involved in the vehicle range display update method. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network connection. When executed by the processor, the computer program implements a lane departure warning method.

[0172] Those skilled in the art will understand that Figure 6 The structure shown is a block diagram of a partial structure related to the solution of this application, and does not constitute a limitation on the controller applied thereto by the solution of this application. The specific controller may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0173] In one exemplary embodiment, a controller is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0174] In one exemplary embodiment, a vehicle is provided, including ambient lighting and the aforementioned controller.

[0175] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0176] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0177] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0178] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program mentioned can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0179] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0180] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A lane departure warning method, characterized in that, The method includes: Obtain vehicle status information; The vehicle's offset state level is determined based on the vehicle state information, and different offset state levels represent different degrees of offset of the vehicle relative to the lane lines. The ambient lights in the vehicle are controlled to provide driving warnings according to a warning mode that matches the offset state level. Different warning modes present different driving warning intensities.

2. The method according to claim 1, characterized in that, The vehicle status information includes steering wheel information and lane perception information; Determining the vehicle's offset status level based on the vehicle status information includes: Based on the steering wheel information, the lane perception information, and the vehicle's size parameters, the target offset of the vehicle relative to the lane line is determined; The vehicle's offset status level is determined based on the target offset and the offset threshold.

3. The method according to claim 2, characterized in that, Determining the target offset of the vehicle relative to the lane line based on the steering wheel information, the lane perception information, and the vehicle's size parameters includes: The yaw angle of the vehicle is determined based on the steering wheel information. The yaw angle represents the angle between the vehicle's front orientation and the lane line along the driving direction. The lateral offset of the vehicle is determined based on the lane perception information, and the lateral offset represents the distance from the center position of the vehicle to the lane line; Based on the yaw angle, the lateral offset, and the vehicle's dimensions, the target offset of the vehicle relative to the lane line is determined.

4. The method according to claim 1, characterized in that, The vehicle status information includes gear information, vehicle speed information, and turn signal information; determining the vehicle's offset status level based on the vehicle status information includes: In response to determining that the vehicle meets the warning function activation conditions based on the gear information, the vehicle speed information, and the turn signal information, the vehicle's offset status level is determined based on the vehicle status information.

5. The method according to claim 1, characterized in that, The control of the ambient lighting in the vehicle to provide driving warnings according to a warning mode matching the offset state level includes: Determine the alert pattern that matches the offset state level; Based on the steering wheel information in the vehicle status information, determine the duration during which the vehicle fails to turn in the correct direction; Based on the duration, determine the display mode corresponding to the ambient light in the vehicle from the warning modes, and control the ambient light to provide driving warnings according to the display mode; The intensity of the driving warning presented by different display methods is positively correlated with the corresponding duration; the display methods include at least one of the following: the display color, flashing frequency, display brightness, display light effect, and display area of ​​the ambient light.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: According to the warning mode, control the collaborative warning system in the vehicle to provide driving warnings; The coordinated warning system includes at least one of an audible alarm system, an instrument panel icon warning system, or a steering wheel vibration system.

7. A lane departure warning device, characterized in that, The device includes: The acquisition module is used to acquire vehicle status information; The determination module is used to determine the offset state level of the vehicle based on the vehicle state information. Different offset state levels represent different degrees of offset of the vehicle relative to the lane line. The control module is used to control the ambient lights in the vehicle and provide driving warnings according to the warning modes that match the offset state level. Different warning modes present different driving warning intensities.

8. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

9. A vehicle, characterized in that, Includes ambient lighting and the controller as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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