The invention provides a threshold-adaptive lane departure early warning method, which can comprehensively consider other traffic participants, adaptively adjust the early warning threshold, improve the early warning accuracy and ensure the early warning timeliness and effectiveness, scans other traffic participants in the environment where a vehicle to be early warned is located, and gives an alarm when other traffic participants exist. Once the distance between the vehicle to be pre-warned and the lane line is changed, judging that the current distance change is related to the nearest traffic participant, and calculating a real-time dynamic threshold value T based on the weight W of the nearest traffic participant, the distance D between the nearest traffic participant and the vehicle to be pre-warned and the current speed V of the vehicle to be pre-warned; and according to the T value and the size relationship of the distance DIST between the vehicle to be pre-warned and the lane line, whether alarm is needed is judged.
本发明提供一种阈值自适应的车道偏离预警方法,其可以全面考虑其他交通参与者,自适应地调整预警阈值,提高了预警的准确性,确保预警的及时性和有效性,其扫描待预警车辆所处环境中的其他的交通参与者,当存在其他交通参与者时,一旦待预警车辆与车道线之间的距离发生改变,则判断当前的距离改变与最近交通参与者相关,并基于最近交通参与者的权重W、其与待预警车辆的距离D,以及待预警车辆当前的速度V,计算实时动态阈值T,根据T值和待预警车辆与车道线之间的距离DIST的大小关系,判断是否需要报警。
Threshold-adaptive lane departure early warning method
一种阈值自适应的车道偏离预警方法
2024-03-01
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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