The invention provides a lane departure early warning method and device, and the method comprises the steps: obtaining a to-be-detected image set which comprises continuous multiple frames of to-be-detected images, and a vehicle transverse distance, a lane line inclination angle and a pixel transverse distance under an aerial view IPM corresponding to each frame of to-be-detected image; judging whether the vehicle transverse distance corresponding to the single frame of to-be-detected image is greater than a first threshold value, judging whether the lane line inclination angle corresponding to the current frame of to-be-detected image is smaller than a second threshold value, or judging whether the pixel transverse distance under the IPM corresponding to the current frame of to-be-detected image is greater than a third threshold value; and if the vehicle transverse distance is greater than a first threshold value, or the lane line inclination angle is smaller than a second threshold value, or the pixel transverse distance under the IPM is greater than a third threshold value, determining that the lane line of the corresponding to-be-detected image does not deviate. The method can effectively solve the problems of bumping, discontinuous transverse distance results and easy instability, is suitable for more changeable and complex scenes, and is excellent in robustness.

    本发明提供一种车道偏离预警方法及装置,获取待检测图像集,待检测图像集包括连续多帧待检测图像及各帧待检测图像对应的车辆横向距离、车道线倾斜角度和鸟瞰图IPM下的像素横向距离;判断单帧待检测图像对应的车辆横向距离是否大于第一阈值,判断当前帧待检测图像对应的车道线倾斜角度是否小于第二阈值,或判断当前帧待检测图像对应的IPM下的像素横向距离是否大于第三阈值;若车辆横向距离大于第一阈值,或车道线倾斜角度小于第二阈值,或IPM下的像素横向距离大于第三阈值,则判定对应待检测图像为车道线未发生偏离。本发明可以有效解决颠簸、横向距离结果不连续极易不稳定的问题,适用于更多变复杂的场景,鲁棒性极佳。


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    Titel :

    Lane departure early warning method and device


    Weitere Titelangaben:

    车道偏离预警方法及装置


    Beteiligte:
    LI MENGYU (Autor:in)

    Erscheinungsdatum :

    2023-05-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06V / 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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