The invention relates to an early warning method and system for lane departure of a vehicle, a medium and the vehicle; the method comprises the steps: obtaining a current vehicle speed and a current road curvature radius, and obtaining a corresponding dynamic boundary compensation value according to the current vehicle speed and the current road curvature radius; obtaining the transverse distance between the current vehicle and the actual lane line, the current vehicle yaw angle and the current vehicle yaw velocity; and according to the transverse distance between the current vehicle and the actual lane line, the current vehicle speed, the current vehicle yaw angle, the current vehicle yaw velocity and the dynamic boundary compensation value, acquiring the corresponding virtual lane line boundary crossing time; and judging whether the vehicle deviates from the lane or not according to a comparison result of the time of crossing the virtual lane line boundary and a preset threshold value, and controlling an early warning execution unit of the vehicle to carry out lane deviation early warning if the vehicle is judged to deviate from the lane. Compared with an existing method, the method can adapt to different driving working conditions and accurately judge whether the vehicle deviates from the lane or not.

    本发明涉及一种车辆偏离车道的预警方法及其系统、介质、车辆,所述方法包括:获取当前车速和当前道路曲率半径,并根据当前车速和当前道路曲率半径获得对应的动态边界补偿值;获取当前车辆与实际车道线之间的横向距离、当前车辆偏航角和当前车辆横摆角速度,并根据当前车辆与实际车道线之间的横向距离、当前车速、当前车辆偏航角、当前车辆横摆角速度以及动态边界补偿值获得对应的横跨虚拟车道线边界时间;根据横跨虚拟车道线边界时间与预设阈值的比较结果判定车辆是否偏离车道,若判定车辆偏离车道,则控制车辆的预警执行单元进行车道偏离预警。相对于现有方法,本发明能够适应不同行驶工况,准确判别车辆是否偏离车道。


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    Titel :

    Early warning method and system for lane departure of vehicle, medium and vehicle


    Weitere Titelangaben:

    一种车辆偏离车道的预警方法及其系统、介质、车辆


    Beteiligte:
    ZHAO MINGXIN (Autor:in) / LIN XIAOMIN (Autor:in) / ZHONG GUOQI (Autor:in) / WANG BO (Autor:in) / LIN ZHICHAO (Autor:in) / ZHANG ZHIDE (Autor:in)

    Erscheinungsdatum :

    2021-12-10


    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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