1258 results about "Carriageway" patented technology

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.

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.

There is provided a lane deviation prevention apparatus which can make a lane deviation prediction judgment more accurately. The lane deviation prevention apparatus includes driving lane shape recognition means to detect a lane mark on a road included in a front image within a lane mark detection distance range and to recognize a shape of a driving lane boundary, and a deviation prediction judgment means that judges, based on the shape of the driving lane boundary, whether the vehicle deviates from a driving lane after a previously set deviation prediction time and outputs a deviation prevention output in a case where it is judged that the vehicle deviates, and the driving lane shape recognition means dynamically sets the position of the lane mark detection distance range in accordance with a vehicle speed of the vehicle and the deviation prediction time.

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.

The invention relates to a novel lane line deviation detection method and a novel lane line deviation detection device. The method comprises the following steps of: detecting a lane line by using a plurality of cameras arranged on a vehicle body, and simultaneously, acquiring the running speed of a vehicle by using a vehicle speed sensor; acquiring state information of the vehicle in a lane according to calibration results of the cameras arranged on the side of the vehicle body and the positions of the lane line in images; and performing lane deviation evaluation, and judging whether the vehicle can deviate from the lane. The device comprises a plurality of cameras, the vehicle speed sensor and a processor, wherein a plurality of cameras are arranged on the vehicle body; and a plurality of cameras and the vehicle speed sensor are respectively connected with the processor. Compared with the prior art, the method and the device have the advantages that the method and the device are wide in application range, the lane line detection accuracy and the vehicle state detection accuracy are high, and the real-time performance is high.

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.

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 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.

A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

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 discloses a cement concrete pavement structure provided with continuous steel bars. The pavement structure comprises a base layer. Roller compacted concrete is adopted in the base layer. A broken stone hardcore is laid below the base layer. Cement concrete surface layers are laid on the base layer. The cement concrete surface layers include the upper surface layer and the lower surface layer. Rubber cement concrete is adopted in the upper surface layer. A transverse induction kerf is arranged on the edge of the upper surface layer on the left side of the driving direction. The continuous transverse steel bars, the continuous longitudinal steel bars and a slidable support are arranged at the portion, within the range of a carriageway and one half of the width (L) of a hardened verge, of the lower surface layer. Plain concrete is formed at the portion, within the other half of the width (L) of the hardened verge, of the lower surface layer. A longitudinal joint is arranged at the portion one half of the width of the hardened verge. A bituminous concrete anti-scouring layer is arranged between the base layer and the surface layers. The pavement structure can solve the problems of existing cement concrete pavements and continuous reinforced concrete pavement structures and can be widely applied to high-grade highways, tunnel pavements and the like on the heavy-duty traffic condition.

A safe navigation system includes a planning unit for planning a navigation path for vehicles according to road information and road condition information, a matching unit for matching lanes and positioning lanes wherein the vehicles located, a collecting unit for collecting data information of surrounding vehicles in a preset scope S, an identification unit for acquiring road early warning information and identifying conflicted vehicles according to the data information of the surrounding vehicles, a judging unit for judging whether the conflicted vehicles or road early warning information exists, and a display unit for highlighting displaying or voice prompting of the conflicted vehicles or the road early warning information when the judging unit judges that the conflicted vehicles or the road warning information exists. The safe navigation method and system can provide own positions and motion information, at the same time, reflect the position relation of the surrounding related vehicles, highlightingly display the conflicted vehicles and the road early warning information, and provide a decision support for users on the way of vehicle driving; and moreover, with lane-level safe navigation, early warning precision can be improved, and the user experience is increased.