The invention belongs to the technical field of vehicle early warning, and particularly relates to a lane departure early warning method and device, equipment and a storage medium. The method comprises the following steps: acquiring a feature image shot by a vehicle-mounted camera of a vehicle, and extracting a first lane line; according to the first lane line, adopting a re-projection transformation equation to obtain a second lane line; according to the second left lane line and the second right lane line, a first included angle is determined, and the first included angle is an included angle between the second left lane line and the second right lane line in the image memory buffer area coordinate system; when the dynamically acquired first included angle is reduced and the reduced time length exceeds the preset deviation time length, determining that the vehicle deviates from the lane, and performing lane deviation early warning; according to the method, lane departure early warning can be realized only by acquiring simple parameters, the defect of complex calculation caused by excessive parameters of a sensor is avoided, meanwhile, lane departure early warning can be accurately and timely performed by the method, and the loss of life and property of a driver is reduced.

    本申请属于车辆预警技术领域,具体涉及一种车道偏离预警方法、装置、设备、存储介质。该方法通过获取车辆的车载摄像头拍摄的特征图像,并提取第一车道线;根据第一车道线,采用重投影变换方程,获取第二车道线;根据第二左车道线和第二右车道线,确定第一夹角,第一夹角为图像内存缓冲区坐标系中的第二左车道线和第二右车道线的夹角;在动态获取的第一夹角减小,且减小时长超过预设偏离时长时,确定车辆偏离车道,并进行车道偏离预警;该方法只需要获取简单的参数就可以实现车道偏离预警,避免了传感器过多参数导致的计算复杂的缺陷,同时,该方法可以准确且及时的对车道进行偏离预警,减少了驾驶员生命财产的损失。


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    Title :

    Lane departure early warning method, device, equipment and storage medium


    Additional title:

    车道偏离预警方法、装置、设备、存储介质


    Contributors:
    LIU QI (author) / ZENG CHUANXIN (author) / LIANG PENG (author) / XIA JUNJIE (author) / XU XINGRONG (author) / SONG MENG (author) / YE HAINA (author)

    Publication date :

    2023-07-07


    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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