The invention discloses a lane departure early warning method for active safe driving vehicle assistance. The method comprises the steps: determining whether lane departure early warning conditions are met or not; setting preview time Tpre according to a vehicle speed; calculating the relative position of a vehicle and a lane line after the preview time Tpre according to a vehicle running speed and a vehicle running direction; determining whether lane departure happens to the vehicle or not; and outputting early warning if lane departure happens. The invention further discloses a lane departure early warning system for active vehicle safe driving assistance. According to the technical scheme, a large amount of geometric operation is avoided, system resources can be saved, and the lane departure calculation speed is increased. Moreover, compared with the traditional scheme based on transverse distance deviation warning, the provided lane departure early warning method has the followingadvantages: the warning logic based on the preview time fully considers the influence of the driving direction on lane deviation warning to solve the problem of false warning when the vehicle runs ina straight line or runs towards the other side of the lane, so that the occurrence of false warning is prevented, and the driving experience is enhanced.

    本发明公开了一种用于车辆主动安全驾驶辅助的车道偏离预警方法,包括判断是否符合车道偏离预警条件,根据车速设置预瞄时间T,根据车辆行驶速度和车辆行驶方向计算出预瞄时间T后车辆与车道线的相对位置,判断车辆是否有发生车道偏离,若发生车道线偏离则输出预警。本发明还公开了一种用于车辆主动安全驾驶辅助的车道偏离预警系统。本发明的技术方案避免了大量的几何运算,能节约系统资源,提高车道偏离的计算速度。并且,相比传统的基于横向距离偏离报警的方案,本发明基于预瞄时间的报警逻辑充分考虑了行驶方向对车道偏离预警的影响,能车辆保持直线行驶或朝车道另一侧行驶时的误报警问题,能防止误报警的发生,增强了驾驶体验。


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    Title :

    Lane departure early warning method and early warning system


    Additional title:

    车道偏离预警方法和预警系统


    Contributors:
    YANG SHAOLEI (author) / GUAN DENGSHI (author) / HU XIAOLU (author) / LU CHANG (author) / DU SIWEI (author) / ZHANG CHUNLEI (author) / XU QIANG (author)

    Publication date :

    2020-05-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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