The invention discloses a lane departure early warning method and system based on a dynamic departure threshold, and the method comprises the following steps: S1, building a vehicle-road geometric model, and solving the relative position and yaw condition of a vehicle in a lane; S2, constructing an early warning model based on a dynamic deviation threshold according to the relative position and yaw condition of the vehicle in the lane; and S3, proposing a deviation frame counter, and making a final early warning decision according to the continuous multi-frame early warning condition. A lane departure early warning system involved in the method is mainly composed of an image preprocessing module, a lane line detection module, a coordinate system conversion and lane line fitting module, a lane line tracking module and a lane departure early warning module. According to the invention, the deviation threshold value is dynamically adjusted through the yaw angle, sufficient early warning time can be provided for a driver, and good early warning accuracy and robustness are achieved.
本发明公开了一种基于动态偏离阈值的车道偏离预警方法及系统,所述方法步骤如下:S1、建立车辆‑道路几何模型,以此求得车辆在车道中的相对位置与偏航情况;S2、根据车辆在车道中的相对位置和偏航情况,构建基于动态偏离阈值的预警模型;S3、提出偏离帧计数器,根据连续多帧的预警情况作出最终预警决策。该方法所涉及的车道偏离预警系统主要由图像预处理模块、车道线检测模块、坐标系转换及车道线拟合模块、车道线跟踪模块以及车道偏离预警模块构成。本发明通过偏航角动态调整偏离阈值,能够给予驾驶员充足的提前预警时间,具备良好的预警准确性和鲁棒性。
Lane departure early warning method and system based on dynamic departure threshold
一种基于动态偏离阈值的车道偏离预警方法及系统
2020-04-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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