The invention belongs to the technical field of driving assistance, and discloses a lane departure early warning method, device and equipment and a storage medium. The method comprises the following steps: processing lane line data and vehicle driving data according to a preset communication protocol to obtain a time sequence signal data set; an initial network prediction model is trained according to the time sequence signal data set, a target network prediction model is obtained, and the target network prediction model is composed of an encoder module, a decoder module and a discriminator module; inputting to-be-predicted data to the target network prediction model to obtain a prediction result; and when the prediction result is that the lane deviates abnormally, an early warning signal is sent out, so that a driver can pay attention to driving safety. According to the method, the lane parameters and the driving parameters are analyzed, a deep learning method is operated for modeling through the time sequence signal data generated by CAN communication, and whether the vehicle deviates from the lane or not is predicted through a multi-task learning mode, so that the prediction accuracy is improved, and the robustness of a prediction model is improved.
本发明属于驾驶辅助技术领域,公开了一种车道偏离预警方法、装置、设备及存储介质。本发明通过根据预设通信协议对车道线数据和车辆驾驶数据进行处理,得到时序信号数据集;根据所述时序信号数据集对初始网络预测模型进行训练,得到目标网络预测模型,所述目标网络预测模型由编码器模块、解码器模块以及判别器模块构成;输入待预测数据至所述目标网络预测模型,得到预测结果;在所述预测结果为车道发生异常偏离时,发出预警信号,以使驾驶人员注意驾驶安全。通过分析车道参数和驾驶参数,再通过CAN通讯产生的时序信号数据,运行深度学习方法进行建模,通过多任务学习方式来预测车辆是否偏离车道,提高了预测的准确性,提升了预测模型的鲁棒性。
Lane departure early warning method, device, equipment and storage medium
车道偏离预警方法、装置、设备及存储介质
2024-04-09
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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