1296 results about "Carriageway" patented technology

Traffic monitoring and warning systems and vehicle ramp advisory systems are provided herein. Such system includes a set of sensor arrays comprising a set of above-road electro-acoustic sensor arrays which is disposed above a traffic lane approaching a hazard for producing signals which are indicative of whether the vehicle is an automobile or a truck and, if it is a truck, to record the presence of such truck, and to provide signals which are indicative of the speed of such truck. A processor is provided which has a memory for storing site-specific data related both to the geometry of the hazard and to signals which have been received from the set of above-road electro-acoustic sensor arrays. A traffic signalling device is associated with the traffic lane and is disposed downstream of the set of above-road electro-acoustic sensor arrays, the traffic signalling device being controlled by the processor. The processor is responsive to the signals from the set of above-road electro-acoustic sensor arrays for computing an actual speed of the truck and for computing a computed maximum safe speed for such truck at the hazard. The computed maximum safe speed of the truck is derived from the site-specific dimensional data of the hazard and from at least the initial speed of the truck, the computed maximum safe speed of the truck being a maximum safe speed for that truck safely to negotiate the hazard. The processor compares the computed actual speed of the truck with the computed maximum safe speed for the truck. Then, the processor automatically operates the traffic signalling device if the computed actual speed of the truck exceeds the computed maximum safe speed for the truck. The processor also discontinues operating the traffic signalling device if the computed actual speed of the truck no longer exceeds the computed maximum safe speed for the truck.

The invention relates to a method for pre-estimating vehicle trace and evaluating lane deviation, for overcoming the defect of the existing technique not fully reflecting true behavioral characteristic of a driver, announcing a method for evaluating the danger of lane deviation based on behavioral simulation of a driver, using the image sensor-collected lane mark line information of front road and combining the vehicle sensor-provided information such as automobile speed, acceleration, and turning state, to simulate the foreseeing action of the driver (i.e. as driving, the driver controls the present driving of the automobile according to the front road information), forecasting an expected running trace of the automobile in a future period of time, and evaluating the danger of lane deviation with respect to the relative position of the expected running trace and the front road mark lines, thus judging if a lane deviation accident will happen. If the danger of the lane deviation exceeds a certain threshold value, it can give out lane deviation early warning information to the driver by sound and vehicle LCD.

The invention relates to a visual computing and prewarning method of deviation angle and distance of an automobile from a lane line. The image processing and computer vision technologies are utilized, and the deviation angle and distance of the automobile from the lane line are computed in real time according to the road surface image acquired by a vehicle-mounted camera, thereby estimating the line crossing time for safety prewarning. The method comprises the following steps: detecting the lane lines of the road surface image to obtain a linear equation of partial lane lines; establishing a three-dimensional coordinate system by using the camera as the initial point, and recording the mounting height and depression angle of the camera; calibrating the focal length according to the lane detection result under the condition of a given deflection angle; computing the deflection angle and vertical distance of the automobile relative to the lane line according to a pinhole camera model; and estimating the deviation time from the lane according to the instantaneous running speed of the automobile, thereby obtaining the safety prewarning or intelligent control information of the running automobile.

The invention discloses a lane detection method and device. The method comprises the following steps that a region to be detected is determined according to a camera image; a detection result is obtained by detecting lane marks in the region to be detected; the detection result is optimized according to radar data; the positions of center lines of lanes are calculated according to the detection result and curb information detected by a radar; and the calculated positions of the center lines of the lanes are synthesized to obtain a position result of the multiple lanes. According to the lane detection method and device, the lane marks in the two-dimensional image are recognized through a camera, filtration is conducted by the aid of the radar data, and the effect of rapidly and accurately detecting the lane marks is achieved. Moreover, the center lines of the lanes are estimated and traced, so that the capability of dynamically recognizing lane lines of a vehicle is improved, and the automatic driving safety of an automated vehicle is improved.

The invention discloses a vehicle driving state evaluating method based on road-switching behavior detection, comprising the steps of: carrying out video acquisition and real-time processing on front road conditions by using a camera so as to achieve purposes of monitoring dangerous driving behaviors of road-switching, long-time line-pressing driving and the like of a vehicle and immediately warn, i.e. arranging a camera facing the front direction inside the vehicle to obtain front road condition information; detecting and tracking a lane line; judging the current position state of the vehicle, if the vehicle is in a line-pressing state, carrying out state tracking to judge whether the vehicle is subjected to lane-switching operation or not; if the vehicle is subjected to the lane-switching operation, judging the behavior danger level of the vehicle according to the lane-switching times within a recent period of time; and if the total time in the line-pressing state within the recent period of time is m percent, making an alarm of the long-time line-pressing driving. For the vehicle active safe driving, by adopting a computer monocular vision and image processing technology, the invention has characteristics of simple system configuration, low cost, good real-time and capability of being applied in various climatic environments in the daytime and at night.

Lane speed profiles are determined for each of a plurality of individual lanes of a multi-lane road section. The plurality of individual lanes are lanes for a given direction of travel. The lane speed profiles are determined using real-time vehicle probe data. The speed profiles are used to determine a timing for provide an instruction to a user of a navigation apparatus to change lane. The timing may be determined to provide a quickest route through at least a part of the road section, to increase the time available for the user to perform the lane change, or to enable a user to pass an incident affecting a lane most quickly.

Disclosed is a lane level navigation method. High-precision positioning is performed on a vehicle and a road segment where the vehicle is located, and the high-precision positioning accuracy is not lower than the centimeter level. The method comprises the following steps that S20, a navigation path is planned for the vehicle according to road information and road condition information; S21, whether the distance between the vehicle and the nearest road intersection in the driving direction of the navigation path is smaller than or equal to a preset value or not is monitored in real time, if yes, the step S22 is executed; if not, the step S21 is executed continuously; S22, lane matching is performed; S23, whether the vehicle is located on the correct lane or not is judged, and the correct lane is a driving lane planned by a navigation center on the navigation path; if yes, the step S21 is executed again; if not, the step S24 is executed; S24, the path is planned to guide the vehicle into the correct lane, and after the vehicle passes through the road intersection, the step S21 is executed again. The lane level positioning method and system have the advantages that the positioning precision is high, the lane where the vehicle is located can be obtained in real time, the vehicle is planned and guided in real time to enter the correct lane, and the vehicle is not likely to miss the intersection where the vehicle needs to steer.

The invention relates to a flat intersection left turn entrance lane removing method and a method for driving on a flat intersection left turn entrance lane. A flat intersection comprises two bidirectional lane crossed roads, a right turn lane and a left turn lane. The left turn lane comprises a left turn entrance lane, a left turn waiting lane (1), a crossing lane entrance (2), an intersection signal light (4), a lane area (6), a lane area signal light (4) and an oblique signal light (5), wherein the left turn entrance lane which used to be arranged on the left side of an entrance lane at the intersection now is removed to the right side of an exit lane (8); the left turn waiting lane (1), the crossing lane entrance (2) and the intersection signal light (4) are arranged in a rear section far from an original left turn entrance lane; and the lane area (6), the lane area signal light (4) and the oblique signal light (5) are arranged in the exit lane (8). Vehicles to turn left run to the left turn waiting lane (1) from a running lane (14) to wait for a green light and then run through the crossing lane entrance (2) and the lane area (6) to a left turn entrance lane (7) on the right side of the exit lane to wait for turning. The design adopted in the invention eliminates a conflict point which occurs when the vehicles to turn left and vehicles to go straightly run together, shortens time limit periods of red and green light at the intersection, and relieves traffic jam and disturbance at the flat intersection.

The invention is directed to intersection traffic control under an automatic driving and manual driving vehicle mixed traveling condition, and designs an advanced control method to improve the trafficefficiency of the mixed traveling condition under the premise of ensuring safety. First, entrance lanes of intersections are divided into automatic driving lanes, manual driving lanes and mixed traveling lanes. Secondly, for vehicles arrived, according to the types of the vehicles, lanes are selected, right-turning vehicles enter the mixed traveling lanes, and straight-forward and left-turning vehicles respectively enter respective dedicated lanes. A new signal timing scheme is designed, the manual driving vehicles are still in accordance with the signal timing scheme in the intersections totravel, while the automatic driving vehicles pass through at the full red time of a signal period, and self-organized traffic based on position reservation is adopted to avoid conflicts.

A method for adjusting a vehicle's position in a roadway lane. A camera mounted on the vehicle generates a current image of the lane and the method identifies a current lane-center line in the current image. A reference image is generated and the method identifies a reference lane-center line in the reference image. The method then calculates an error between the current lane-center line and the reference lane-center line and provide steering commands to adjust the position of the vehicle so that the error is reduced.

The present teaching relates to method, system, medium, and implementation of lane planning in an autonomous vehicle. Sensor data are received that capture ground images of a road the autonomous vehicle is on. Based on the sensor data, a current lane of the road that autonomous vehicle is currently occupying is detected. Information indicating presence of a passenger in the vehicle is obtained and used to retrieve a personalized lane control model related to the passenger. Lane control for the autonomous vehicle is planned based on the detected current lane and self-aware capability parameters in accordance with the personalized lane control model. The self-aware capability parameters are used to predict operational capability of the autonomous vehicle with respect to a current location of the autonomous vehicle. The personalized lane control model is generated based on recorded human driving data.

The invention relates to a method for extraction and deviation warning of a lane line. The method is characterized in that the method comprises the following steps that: an image preprocessing step is executed; more specifically, a camera is calibrated to obtain an inverse projection transmission picture, a single-line DLD feature image and a double-line DLDLD feature image are extracted, operators are extracted according to the two features and binarization processing is carried out on the operators, and clustering expansion processing is carried out on white pixels in the binarization images from bottom to up; continuous linear piecewise function fitting is carried out on the feature points in a predefined grid and coordinates of starting points and end points as well as corresponding gradients of all the piecewise functions are recorded; dashed and solid line determination is carried out on the feature points; and a multi-segment tracking step, a multi-segment extension step, an inspection step and a lane line determination step are carried out to determine a lane, thereby making a deviation warning decision. Advantages of the method are as follows: the lane line detection algorithm is suitable for various complicated urban roads; and because less computation is required and thus operation can be carried out under the circumstance of low-end hardware, the method is simple, secure and reliable.

In lane keep control apparatus and method for an automotive vehicle, a behavior of the vehicle is controlled in such a manner that a yaw moment is developed in a direction to avoid a deviation of the vehicle from the traffic lane in accordance with the traveling state of the vehicle when determining that the vehicle has a tendency of the deviation of the vehicle from the traffic lane and lane markers are detected, each lane marker representing one side of the traffic lane, and the behavior of the vehicle is controlled on the basis of the detected lane marker at one side of the traffic lane when a detection state of the lane markers is transferred from a state in which both of the lane markers at both sides of the traffic lane are detected to a state in which the lane marker only at one side of the traffic lane is detected.

A no-stop electronic toll collection (ETC) system based on WLAN is disclosed in the present invention. The system includes an on-board equipment, roadside equipments, a multiple access carriageway control system and a toll balance center. The communication is implemented between the on-board equipment and the roadside equipments according to the demand determined by the wireless local network protocol. The system offered in the present invention applies several technology means to effectively overcome the technology prejudice that the WLAN technology is not suitable for the ETC system. Compared with the existing technology, the present ETC system has the advantages of low cost, high efficiency, complete function and good performance index, therefore the present invention is very meaningful for the application and extension of the ETC system and the improvement of the industrial technology.

The invention relates to the field of intelligent transportation, and provides a lane keeping control method, device and system. The lane keeping control method comprises the steps of acquiring courseangle deviation between a current course angle and a target course angle of an automatic driving vehicle and transverse position deviation between a current transverse position and a target transverse position; obtaining a preview road curvature of the automatic driving vehicle; determining a target steering wheel rotation angle according to the preview road curvature, the transverse position deviation and the course angle deviation, wherein the target steering wheel rotation angle is required to enable the transverse position deviation and the course angle deviation to be zero, and enablingthe preview road curvature to reach an optimal road curvature enabling an error between an actual driving track and an expected track of the vehicle to be minimum; and making the vehicle perform lanekeeping according to the target steering wheel angle. By means of the lane keeping control method, the vehicle can keep running according to a current lane under the working condition of a safe running speed, and the requirements for operation stability and safety of the vehicle are met.

The invention discloses a road-vehicle fusion perception based early warning method against lane departure, and relates to the field of automatic driving. Firstly, a roadside sensing device collects and preprocesses images of lane lines and a vehicle; then, a driving track is stored; and meanwhile, lane line detection is conducted, the positions of the lane lines in the world coordinate system areobtained through inverse perspective transformation, similarly, the position of the target vehicle is unified to the world coordinate system, and distance information between the center point of thevehicle and the lane lines on the two sides is obtained. And multiple frames of driving track of the target vehicle are fit, and the yaw angle of the vehicle is calculated. And finally, a vehicle sensor acquires the steering wheel angle and steering lamp information of the vehicle, if the deviation driving of the vehicle is not the intention of a driver, speed and acceleration information of the vehicle is acquired and transmitted to a vehicle-mounted terminal, and the vehicle-mounted terminal judges whether the vehicle has the risk of deviating from the lane line according to measurement information. According to the invention, the data processing amount of the vehicle-mounted terminal is reduced, the accuracy and robustness of a detection system are improved, and the driving safety is ensured.

An autonomous driving system includes: an information acquisition device that acquires surrounding situation information indicating a surrounding situation around a vehicle; and a lane change control device that controls lane change of the vehicle. An influence degree represents influence of the lane change on traffic flow around the vehicle. The lane change control device performs: acceptable range setting processing that sets an acceptable upper limit of the influence degree as a function of a position along a travel lane in which the vehicle travels; influence degree calculation processing that calculates the influence degree based on the surrounding situation information; and lane change determination processing that prohibits the lane change when the influence degree is greater than the acceptable upper limit while executes the lane change when the influence degree is equal to or less than the acceptable upper limit.

The present invention provides an apparatus and method for predicting a moving direction of another vehicle running on a carriageway adjacent to a user's vehicle using periodically acquired image information around the user's vehicle, and performing a control process of preventing collision of the user's vehicle when a moving direction of the user's vehicle crosses the moving direction of the other vehicle.

The invention relates to a method for determining the position of a vehicle (10a) on a carriageway (24), in which method data of a satellite signal sensor (36), of a digital map (12), of a line detection sensor (18) and of a vehicle movement dynamic sensor (14) and / or of a surroundings sensor (16) are combined in such a way that the position of the vehicle (10a) on the carriageway (24) is determined with at least lane-specific accuracy. In particular, the method can also be used to determine the number of lanes. The invention also relates to a device for determining the position of a vehicle (10a) on a carriageway (24) and to a motor vehicle having such a device.

An image processing unit 4 performs the recognition of a traffic signal in front of an own vehicle on the carriageway thereof. When the image processing unit 4 recognizes that there is a traffic signal front closet to the vehicle on the carriageway within a set distance L2 and the traffic signal is displaying red light, the process shifts to a stop line recognition mode and the image processing unit 4 performs stop line recognition. Accordingly, unnecessary execution of stop line recognition can be accurately avoided. Therefore, a stop line that is necessary for the control of the own vehicle can be recognized with a high accuracy without generating excessive calculation load.

The invention provides a lane deviation detection method and device. The method comprises the following steps: obtaining a video image of the condition of a road ahead of a running vehicle; obtaining an edge mapping image of the video image; obtaining multiple peak points in the edge mapping image; obtaining lane lines according to the multiple peak points; and detecting the lane deviation according to the lane lines. According to the method provided by the embodiment of the invention, the video image of the condition of the road ahead of the running vehicle is obtained in real time, the lane lines are obtained through computing processing, the lane deviation is detected and early warning is carried out according to the lane lines, the method can adapt to days and nights and various complex road conditions, is low in computation complexity, and good in timeliness, and driving safety is improved.

The invention discloses an ecological road engineering system, and belongs to the technical field of city road building. A carriageway and a non-motor way are each provided with a water-permeable bituminous pavement, namely a porous bituminous pavement, the porosity is higher than 20% after compaction is carried out, and drainage channels can be formed inside a bituminous mixture. Rainfall runoff on the pavements is collected into water storage devices embedded into a medium divider and a lateral divider and is gradually and slowly released to surrounding soil, and therefore the growth requirement of plants is met. By means of the ecological road engineering system, self-organization irrigation of the green belt plants is completed, the manual irrigation cost is reduced, and water resources are saved; soil irrigation is more thorough, a small amount of manual irrigation and a small amount of rainfall enable water to difficulty reach a soil layer with a certain depth, and therefore growth of tree root systems is not facilitated; meanwhile, a real-time monitoring system provides scientific data information for maintenance and effective detection of the ecological road engineering system; manual energy resources and power input are not needed in the complete system, the operation and maintenance cost is low, and the practical value is achieved; and through practices in one year, the system better runs, and the popularization value is achieved.

A method is disclosed for warning in case of wrong-way travel of a vehicle on a directional carriageway by means of an on-board unit carried by the vehicle, said on-board unit determining its position and direction of movement in a satellite-assisted manner, comparing the latter with a target direction of movement stored in a digital road map for this position and outputting a warning message when detecting a wrong-way travel, comprising: for a temporary change in course of a section of the directional carriageway, providing a radio beacon arranged upstream to said section and having a local radio coverage range; when the on-board unit enters the radio coverage range of the radio beacon, receiving a message sent by the radio beacon concerning the change in course in a transceiver of the on-board unit; and detecting the wrong-way travel depending on the received message.

The invention relates to a scheme for designing a three-dimensional carport frame structure across the midair of a wide type road. The scheme is based on the traditional simplest three-dimensional carport frame structure which comprises double rows of vertical parking places (6) vertically overlapped and arranged. The scheme is characterized in that: A. a structural form of a three-dimensional carport storing part is as follows: the vertical parking places (6) are parallel to a central line (8) of a traveling road (2) and arranged at two sides of a vehicular passage (3) in the carport; B. lifting wells (7) are positioned at the ends of the vehicular passage (3) in the carport; and C. the lifting wells (7) are arranged on slow-traffic lanes at two sides of the traveling road (2) or on the interfaces between the slow-traffic lanes and fast-traffic lanes and can not basically have obvious influences on vehicular traffic. The applicable geographical conditions of the three-dimensional carport are widened in the cities; the densely steel-structured three-dimensional carport is built on the traveling road (2); and a condition for remitting the difficulty in parking in the cities to the largest extent is further created.

The invention relates to a road deceleration interlaced vision marked line method, which comprises at least two lane road marked lines which are regarded as parallel lines along a traffic direction on a road, two oblique lines which are symmetrically arranged are respectively crossed with acute angles of the two parallel lines, ends which are arranged on the middle portions of the two parallel lines are connected by a transverse line which is perpendicular to the parallel lines, a section of an interlaced vision marked line are formed by an oblique line which is crossed by the two acute angles and the connecting parallel lines between the parallel lines, and a plurality of groups of equi-spaced interlaced vision marked line sections are arranged on the interval of the road with a certain length to form the road deceleration interlaced vision marked line. The road deceleration interlaced vision marked line has important roles at the aspects of increasing the visibility, reducing the vehicle speed and reducing the accident rate and the like, is capable of increasing the highlighting of road dangerous sections (intersections) and increasing the alertness of drivers, the conscious deceleration effect of the drivers is obvious, and the road deceleration interlaced vision marked line method has the practical value of preventing and reducing the happen of traffic accidents. The deceleration interlaced vision marked line method is capable of being used for the safe design and improvement of a road intersection, a traffic accident black-spot or a road section.