CN109910744A - LDW Lane Departure Warning System - Google Patents
LDW Lane Departure Warning System Download PDFInfo
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- CN109910744A CN109910744A CN201910202615.5A CN201910202615A CN109910744A CN 109910744 A CN109910744 A CN 109910744A CN 201910202615 A CN201910202615 A CN 201910202615A CN 109910744 A CN109910744 A CN 109910744A
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Abstract
A kind of LDW Lane Departure Warning System provided by the invention, including vehicle-mounted viewing system, in-vehicle processor and Vehicular display device；Discrimination by the in-vehicle processor to the video image of vehicle-mounted viewing system, identify vehicle front and/or side bend line, and the radian based on the bend line simulates the extended line of the bend line, and then it will be on the bend line and the extended line ghost image to the corresponding position of panoramic picture, by the real time position relationship of vehicle image and the ghost image in panoramic picture, understanding vehicle in real time for driver, whether crimping is travelled.A kind of LDW Lane Departure Warning System provided by the invention, it is intended to provide deviation information when vehicle passes through bend to driver, pass through bend with auxiliary vehicle safety, to effectively increase driver behavior standardization, reduce crimping, more line traveling bring security risk, and then improves the safety of driving curves.
Description
Technical field
The present invention relates to safe driving fields, and in particular to a kind of LDW Lane Departure Warning System.
Background technique
Vehicle when the road surface that flow of the people is big or road width is narrow is turned, due to car body it is longer it is wider it is higher and/
Or bend line missing, driver are often difficult to disposably pass through bend without more line without crimping only by rearview mirror.Meanwhile vehicle
Turning when driver's field of vision blind area it is big, increase the tensity of driver.Thus negotiation of bends relative to straight-line travelling not
It is easy to control, such as with curve barrier scratch and side occur for easy crimping even more line, and then easy initiation traffic accident
Driving vehicle occurs to scratch, collide with Facing Movement vehicle.
Existing mobile unit has not been well positioned to meet the needs of vehicle turning as a result,.
Summary of the invention
For the defects in the prior art, a kind of LDW Lane Departure Warning System provided by the invention, solves existing
Mobile unit is not well positioned to meet the technical issues of needs of vehicle turning.
To achieve the goals above, the present invention realizes by following technical solution:
A kind of LDW Lane Departure Warning System, including vehicle-mounted viewing system, in-vehicle processor and Vehicular display device；
The vehicle-mounted viewing system is electrically connected with in-vehicle processor, for acquiring the video of vehicle front, side and rear visual field
Image, and the video image is passed through into electric signal transmission to in-vehicle processor；
The in-vehicle processor generates the panorama sketch of vehicle and its surrounding enviroment based on the video image on Vehicular display device
Picture；
The in-vehicle processor also by the discrimination to the video image, identifies vehicle front and/or side bend line, and
Radian based on the bend line simulates the extended line of the bend line, and then by the bend line and the extended line ghost image
Onto the corresponding position of the panoramic picture；
The Vehicular display device is electrically connected with in-vehicle processor, for showing the panoramic picture and the ghost image, and passes through institute
The real time position relationship prompt lane for driver for stating the vehicle image and the ghost image in panoramic picture deviates situation.
Optionally, the panoramic picture is animation overhead view image, the relationship between display vehicle and lane line, for driving
The person of sailing understands vehicle in real time, and whether crimping travels.
Optionally, the system comprises mode standards, before the mode standard, that is, vehicle-mounted viewing system acquires vehicle
The video image of side, side and rear visual field, the in-vehicle processor is by handling the video image to generate the panorama
Image and the ghost image, the Vehicular display device show the panoramic picture and the ghost image.
Optionally, the system also includes low-power consumption modes；The low-power consumption mode, that is, vehicle-mounted viewing system is only adopted
Collect the forward sight image of vehicle front visual field, the in-vehicle processor is passed by the discrimination to the forward sight image and bonding position disk
Sensor and/or steering modulating signal feedback, judge that vehicle will turn, control and enable the mode standard.
Optionally, the in-vehicle processor is preferentially based on bend line described in vehicle front video image identification, secondly based on
Bend line described in the video image identification of vehicle side, finally based on bend line described in the video image identification of rear of vehicle.
Optionally, if the in-vehicle processor is by the discrimination to the video image, unidentified line of going off the curve then is being regarded
Bend object of reference is found in frequency image, and simulation bend line is fitted based on the bend object of reference.
Optionally, the priority of the in-vehicle processor selection bend object of reference is the road of the kerbstone of turntable, bend
Sculpture geometric center among shade tree by gutter, bend and turntable by kerb, bend.
Optionally, the confidence level for the simulation bend line that the in-vehicle processor fits, which is based on above-mentioned sequence, successively to be reduced,
The in-vehicle processor is in the central filler hatching of simulation bend line, and confidence level is higher, and the hatching is more intensive.
Optionally, described when the vehicle image and the ghost image that show on the Vehicular display device interfere
The fill color of vehicle image is i.e. dynamic to be changed.
The present invention also provides a kind of vehicles, including LDW Lane Departure Warning System described in any of the above embodiments.
As shown from the above technical solution, beneficial effects of the present invention:
A kind of LDW Lane Departure Warning System provided by the invention, including vehicle-mounted viewing system, in-vehicle processor and car-mounted display
Device；Discrimination by the in-vehicle processor to the video image of vehicle-mounted viewing system identifies that vehicle front and/or side are curved
Diatom, and the radian based on the bend line simulates the extended line of the bend line, and then by the bend line and described prolong
On long line ghost image to the corresponding position of panoramic picture, closed by the real time position of vehicle image and the ghost image in panoramic picture
System, understanding vehicle in real time for driver, whether crimping travels.A kind of LDW Lane Departure Warning System provided by the invention, it is intended to
Deviation information when vehicle passes through bend is provided to driver, with auxiliary vehicle safety by bend, to effectively improve
Driver behavior standardization reduces crimping, more line traveling bring security risk, and then improves the safety of driving curves
Property.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is one of LDW Lane Departure Warning System schematic diagram；
Fig. 2 is the two of LDW Lane Departure Warning System schematic diagram；
Fig. 3 is simulation bend line schematic diagram；
Appended drawing reference:
The vehicle-mounted viewing system of 1-, 2- in-vehicle processor, 3- Vehicular display device, 4- steering wheel sensor, 5- turn signal.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
It should be noted that unless otherwise indicated, technical term or scientific term used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
A kind of LDW Lane Departure Warning System provided by the invention referring to FIG. 1-2, including vehicle-mounted viewing system 1, vehicle
Borne processor 2 and Vehicular display device 3；The vehicle-mounted viewing system 1 is electrically connected with in-vehicle processor 2, for acquire vehicle front,
The video image of side and rear visual field, and the video image is passed through into electric signal transmission to in-vehicle processor 2；It is described vehicle-mounted
Processor 2 generates the panoramic picture of vehicle and its surrounding enviroment based on the video image on Vehicular display device 3；It is described vehicle-mounted
Processor 2 also by the discrimination to the video image, identifies vehicle front and/or side bend line, and based on described curved
The radian of diatom simulates the extended line of the bend line, and then by the bend line and the extended line ghost image to the panorama
On the corresponding position of image；The Vehicular display device 3 is electrically connected with in-vehicle processor 2, for showing the panoramic picture and institute
Ghost image is stated, and prompts lane for driver inclined by the real time position relationship of vehicle image and the ghost image in the panoramic picture
From situation.Vehicular display device 3 provides the real-time condition of vehicle and bend line to driver by visual feedback, real convenient for driver
When understand Ackermann steer angle whether crimping, drive, avoided because getting over the traffic thing such as scraping caused by line or crimping travel convenient for standardization
Therefore and become blame either one.By the way of the ghost image lane line on panoramic picture, driver safety is also helped by narrow
Bend, when driving into dedicated u-turn lane such as vehicle, driver be difficult to observe by rearview mirror vehicle two sides and road tooth away from
From once crimping at this time, vehicle side is easily scraped with road odontogenesis, prompts to drive with lane line ghost image by panoramic picture
Member's reasonable operation.
As further improvement of these options, the panoramic picture is animation overhead view image, display vehicle and vehicle
Relationship between diatom, so that driver understands vehicle in real time, whether crimping is travelled.The signal of animation overhead view image, i.e. animation, it is non-
Outdoor scene.A kind of embodiment: in the animation overhead view image, determine that the bend line of necessary being is solid line, the bend fitted
Line is the signal of both sides contour line, sectional median plane line, and vehicle is shown in the form of top profile view, if it is curved to find front and back two
Head and the tail are connected and are seamlessly transitted according to bending radius by bent lane line, and the curve fictionalized is only shown in this way closer to really
The information whether lane deviates, it is concise, while reducing the power consumption of the system.
As further improvement of these options, the system comprises mode standard, the mode standard, that is, vehicle
The video image that viewing system 1 acquires vehicle front, side and rear visual field is carried, the in-vehicle processor 2 passes through described in processing
For video image to generate the panoramic picture and the ghost image, the Vehicular display device 3 shows the panoramic picture and described folded
Shadow.Preferably, the system also includes low-power consumption modes；The low-power consumption mode, that is, vehicle-mounted viewing system 1 only collecting vehicle
The forward sight image of visual field in front of, the in-vehicle processor 2 passes through the discrimination to the forward sight image and bonding position disk senses
Device 4 and/or 5 signal of cornering lamp feedback, judge that vehicle will turn, control and enable the mode standard.The mode standard and
The design of low-power consumption mode avoids the system from making idle work in vehicle straight trip, reduces the energy consumption of the system, extend
The service life of the system.
As further improvement of these options, the in-vehicle processor 2 is preferentially known based on vehicle front video image
The not described bend line is finally based on rear of vehicle video image secondly based on bend line described in the video image identification of vehicle side
Identify the bend line.If in-vehicle processor 2 identifies lane line simultaneously from the video image of four direction, data volume is too big,
Feedback speed is slow, and introduces in most cases the speed that feedback can be improved one by one.A kind of embodiment: described vehicle-mounted to look around
System 1 first only acquires vehicle front video image in vehicle traveling, and in-vehicle processor 2 is based on vehicle front video image identification
The bend line in front out controls vehicle-mounted 1 standard-sized sheet of viewing system, shows the panoramic picture, vehicle-mounted place on Vehicular display device 3
Device 2 is managed i.e. based on bend line described in vehicle front video image and side video image identification, and the bend line that will identify that is folded
On the panoramic picture that shadow is shown to Vehicular display device 3.Preferably, the in-vehicle processor 2 is by distinguishing the forward sight image
It analyses and bonding position disk sensor 4 and/or 5 signal of cornering lamp is fed back, judge that vehicle will turn left, i.e., preferentially regarded from vehicle left
Bend line is identified in frequency image, if vehicle left side is unidentified to arrive bend line, in-vehicle processor 2 is again from vehicle right video image
Middle identification bend line, if also unidentified arrive bend line, in-vehicle processor 2 is again from rear of vehicle video image identification bend line.
As further improvement of these options, if the in-vehicle processor 2 by the discrimination to the video image,
Unidentified line of going off the curve then finds bend object of reference in video image, and fits simulation bend based on the bend object of reference
Line.The priority of a kind of embodiment, the selection of the in-vehicle processor 2 bend object of reference is the road of the kerbstone of turntable, bend
Sculpture geometric center among shade tree by gutter, bend and turntable by kerb, bend.The in-vehicle processor 2 is fitted
The confidence level of simulation bend line out, which is based on above-mentioned sequence, successively to be reduced, and specifically, the in-vehicle processor 2 is in simulation bend line
Central filler hatching, confidence level is higher, and the hatching is more intensive.The design improves the system to various bend rings
The adaptability in border.
As further improvement of these options, when the vehicle image and institute shown on the Vehicular display device 3
When stating ghost image and interfering, the fill color of the vehicle image is i.e. dynamic to be changed.A kind of embodiment, the vehicle image are filled out
Filling color normally is white, and when the vehicle image and ghost image interference, fill color then becomes red, passes through visual stimulus
Prompt driver's crimping or more line.Preferably, when fill color becomes red, vehicle audio also makes a sound alarm, passes through sound
Stimulation prompt driver's crimping or more line.
The LDW Lane Departure Warning System provided in based on the above embodiment, the present invention also provides a kind of vehicle, the vehicles
Include above-described embodiment in any one LDW Lane Departure Warning System.Since the vehicle uses in above-described embodiment
LDW Lane Departure Warning System, so the beneficial effect of the vehicle please refers to above-described embodiment.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of LDW Lane Departure Warning System, it is characterised in that: including vehicle-mounted viewing system (1), in-vehicle processor (2) and
Vehicular display device (3)；
The vehicle-mounted viewing system (1) is electrically connected with in-vehicle processor (2), for acquiring vehicle front, side and rear visual field
Video image, and by the video image by electric signal transmission to in-vehicle processor (2)；
The in-vehicle processor (2) is based on the video image and generates vehicle and its surrounding enviroment on Vehicular display device (3)
Panoramic picture；
The in-vehicle processor (2) also by the discrimination to the video image, identifies vehicle front and/or side bend
Line, and the radian based on the bend line simulates the extended line of the bend line, and then by the bend line and the extension
On line ghost image to the corresponding position of the panoramic picture；
The Vehicular display device (3) is electrically connected with in-vehicle processor (2), for showing the panoramic picture and the ghost image, and
Lane for driver is prompted to deviate situation by the real time position relationship of vehicle image and the ghost image in the panoramic picture.
2. LDW Lane Departure Warning System according to claim 1, it is characterised in that: the panoramic picture is bowed for animation
Visible image, the relationship between display vehicle and lane line, so that driver understands vehicle in real time, whether crimping is travelled.
3. LDW Lane Departure Warning System according to claim 1, it is characterised in that: the system comprises mode standard,
The mode standard, that is, vehicle-mounted viewing system (1) acquisition vehicle front, side and rear visual field video image, the vehicle
Borne processor (2) is by handling the video image to generate the panoramic picture and the ghost image, the Vehicular display device (3)
Show the panoramic picture and the ghost image.
4. LDW Lane Departure Warning System according to claim 3, it is characterised in that: the system also includes low-power consumption
Mode；The low-power consumption mode, that is, vehicle-mounted viewing system (1) only acquires the forward sight image of vehicle front visual field, described vehicle-mounted
Processor (2) is fed back by the discrimination to the forward sight image and bonding position disk sensor (4) and/or turn signal (5) signal,
Judge that vehicle will turn, controls and enable the mode standard.
5. LDW Lane Departure Warning System according to claim 1, it is characterised in that: the in-vehicle processor (2) is preferential
Based on bend line described in vehicle front video image identification, secondly based on bend line described in the video image identification of vehicle side, most
Afterwards based on bend line described in the video image identification of rear of vehicle.
6. LDW Lane Departure Warning System according to claim 1, it is characterised in that: if the in-vehicle processor (2) is logical
The discrimination to the video image is crossed, unidentified line of going off the curve then finds bend object of reference in video image, and curved based on this
Road object of reference fits simulation bend line.
7. LDW Lane Departure Warning System according to claim 6, it is characterised in that: in-vehicle processor (2) selection
The priority of bend object of reference is the kerbstone of turntable, the kerbstone of bend, the gutter by bend, the shade tree by bend
With sculpture geometric center among turntable.
8. LDW Lane Departure Warning System according to claim 7, it is characterised in that: in-vehicle processor (2) fitting
The confidence level of simulation bend line out is successively reduced based on the sequence of power 7, and the in-vehicle processor (2) is in simulation bend line
Between fill hatching, confidence level is higher, and the hatching is more intensive.
9. LDW Lane Departure Warning System according to claim 1, it is characterised in that: when on the Vehicular display device (3)
When the vehicle image and the ghost image of display interfere, the fill color of the vehicle image is i.e. dynamic to be changed.
10. a kind of vehicle, which is characterized in that including the described in any item LDW Lane Departure Warning Systems of such as claim 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910202615.5A CN109910744B (en) | 2019-03-18 | 2019-03-18 | LDW lane departure early warning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202615.5A CN109910744B (en) | 2019-03-18 | 2019-03-18 | LDW lane departure early warning system |
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| CN109910744A true CN109910744A (en) | 2019-06-21 |
| CN109910744B CN109910744B (en) | 2022-06-03 |
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| CN110562141A (en) * | 2019-08-27 | 2019-12-13 | 中国第一汽车股份有限公司 | streaming media rearview mirror and display method thereof |
| CN111311960A (en) * | 2020-02-23 | 2020-06-19 | 长安大学 | Method for reminding occupied driving vehicle in tunnel section |
| CN116495004A (en) * | 2023-06-28 | 2023-07-28 | 杭州鸿泉物联网技术股份有限公司 | Vehicle environment sensing method, device, electronic equipment and storage medium |
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