The invention discloses a lane recognition and departure early warning method under monocular vision. The method comprises the following steps: 1, detecting a lane line on which a vehicle is running and the distance from the vehicle to lane lines on two sides through a camera, and monitoring the distance between the vehicle and a front vehicle, the vehicle speed, the steering wheel angle, the vehicle transverse speed and the vehicle body deflection angle at the same time; 2, when the vehicle distance between the vehicle and the front vehicle exceeds a vehicle distance threshold value and the relative distance between the vehicle and the lane lines on the two sides is smaller than a relative distance threshold value, determining the deviation intention index and the transverse speed changeindex of the vehicle; and 3, obtaining a deviation early warning index through a fuzzy control model according to the deviation intention index and the transverse speed change index, and carrying outearly warning prompt when the deviation early warning index reaches an early warning index threshold.

    本发明公开了一种单目视觉下车道识别与偏离预警方法,包括:步骤1、通过摄像头检测本车正在其上行驶的车道线及本车到两侧车道线的距离,同时监测本车与前车的车距、车速、方向盘转角、车辆横向速度以及车身偏转角;步骤2、当本车与前车的车距超过车距阈值,且车辆到两侧车道线的相对距离小于相对距离阈值时,确定本车的偏离意图指数和横向速度变化指数;步骤3、根据所述偏离意图指数和所述横向速度变化指数通过模糊控制模型得到偏离预警指数,当所述偏离预警指数达到预警指数阈值时进行预警提示。


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    Titel :

    Lane recognition and departure early warning method under monocular vision


    Weitere Titelangaben:

    一种单目视觉下车道识别与偏离预警方法


    Beteiligte:
    JIN HUI (Autor:in) / SHI JINHU (Autor:in)

    Erscheinungsdatum :

    2020-10-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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