The invention discloses a lane departure detection method and device, equipment and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that lane line parameters and vehicle driving parameters in the vehicle driving process are collected; fitting the lane line parameters and the vehicle driving parameters to obtain the distance between the vehicle body part of the vehicle and the lane line; in response to the fact that the distance between the vehicle body part of the vehicle and the lane line is smaller than the reference distance, a detection result is obtained and used for indicating whether a steering lamp corresponding to the vehicle deviation direction is turned on or not; acquiring the torque of a steering wheel of the vehicle in response to the detection result indicating that the steering lamp corresponding to the vehicle deviation direction is not turned on; in response to the torque of the steering wheel being less than or equal to the reference torque, it is determined that the vehicle has lane departure without driver awareness. Therefore, the driver is reminded when the driver unconsciously deviates from the lane, the danger that the vehicle continuously deviates from the lane when the driver unconsciously deviates from the lane is avoided, and the driving safety is ensured.
本申请公开了车道偏离的检测方法、装置、设备及存储介质,属于车辆控制技术领域。方法包括:采集车辆行驶过程中的车道线参数和车辆驾驶参数;对车道线参数和车辆驾驶参数进行拟合,得到车辆的车身部分与车道线的距离;响应于车辆的车身部分与车道线的距离小于参考距离,获取检测结果,检测结果用于指示车辆偏离方向对应的转向灯是否开启;响应于检测结果指示车辆偏离方向对应的转向灯未开启,获取车辆的方向盘的力矩;响应于方向盘的力矩小于或等于参考力矩,确定车辆在驾驶员无意识的情况下发生车道偏离。从而在驾驶员无意识导致车道偏离时提醒驾驶员,避免在驾驶员无意识的情况下车辆持续偏离车道发生危险,保证驾驶的安全。
Lane departure detection method and device, equipment and storage medium
车道偏离的检测方法、装置、设备及存储介质
2024-07-02
Patent
Electronic Resource
Chinese
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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