The embodiment of the invention discloses a lane departure early warning method and device, equipment and a medium. The method comprises the following steps: determining a current cross-line distance of a target vehicle at a current vehicle position, and determining a predicted cross-line distance of the target vehicle at a predicted vehicle position; wherein the cross-line distance is used for representing the distance between a reference front wheel of the target vehicle and a reference lane line, and the reference lane line is a lane line located on the same side of the reference front wheel in lane lines where the target vehicle is located; based on the current cross-line distance and the predicted cross-line distance, determining the lane departure danger degree of the target vehicle according to a preset fuzzy rule; and determining a lane departure early warning state of the target vehicle according to the lane departure danger level. According to the technical scheme, lane departure early warning is carried out on the vehicle based on the fuzzy control mode, different working conditions do not need to be distinguished, the early warning accuracy can be ensured, meanwhile, the complexity of an early warning algorithm can be reduced, and therefore the early warning efficiency is improved.

    本发明实施例公开了一种车道偏离预警方法、装置、设备及介质。其中,该方法包括:确定目标车辆在当前车辆位置处的当前跨线距离,以及确定目标车辆在预测车辆位置处的预测跨线距离;其中,跨线距离用于表征目标车辆的参考前轮与参考车道线之间的距离,参考车道线为目标车辆所在的车道线中位于参考前轮同侧的车道线;基于当前跨线距离和预测跨线距离,根据预设模糊规则确定目标车辆的车道偏离危险程度;根据车道偏离危险程度确定目标车辆的车道偏离预警状态。本技术方案,基于模糊控制方式对车辆进行车道偏离预警,无需区分不同工况,能够在确保预警准确性的同时,降低预警算法的复杂性,从而提高预警效率。


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    Titel :

    Lane departure early warning method, device, equipment and medium


    Weitere Titelangaben:

    一种车道偏离预警方法、装置、设备及介质


    Beteiligte:
    FU RENTAO (Autor:in) / JIANG ZIMING (Autor:in) / LIU KEWANG (Autor:in)

    Erscheinungsdatum :

    2023-11-24


    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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