Method for effectively judging and recognizing vehicle travelling conditions and device thereof

Abstract

The invention relates to the technical field of recognizing lane lines, particularly to a method for effectively judging and recognizing vehicle travelling conditions and a device thereof. The method comprises the following steps: obtaining external parameters through camera calibration; obtaining lane lines of an image frame; calculating entrance angles between a vehicle and the lane lines in real time, using lateral distances between wheels and the left and right lane lines, the entrance angles and self vehicle speed information to judge the vehicle travelling condition, and giving a danger early warning. The device comprises a judging and recognizing parameter obtaining unit, a judging and recognizing parameter calculating unit and a vehicle travelling condition judging and recognizing unit, which are successively connected. The method and the device have the beneficial effects that: 1. the lane lines can be accurately recognized, and detection rates of the lane lines in severe environments are high; 2. the calculating complexity is low, and the real-time performance is high; 3. the entrance angles, the lateral distances and lateral speeds are used to provide a self-adapting early warning of lane deviation, and the interference from error signals of early warnings or delay warnings can be avoided.

Description

technical field [0001] The invention relates to the technical field of lane line recognition, in particular to a method and device for effectively judging the driving state of a vehicle. Background technique [0002] The lane departure warning system is an important part of the car auxiliary driving system. It is used to remind the driver to send an early warning signal to prevent danger when he deviates from the normal lane due to fatigue, distraction and other unconscious behaviors. The existing vehicle early warning schemes are mainly divided into It is a vehicle trajectory estimation method and an early warning method based on image processing technology. [0003] The vehicle trajectory estimation method uses multiple sensors to measure the vehicle's driving speed and front wheel swing angle information. Contains a large proportion of noise signals, and the obtained predicted trajectory deviates greatly from the actual trajectory. To solve this shortcoming, there is a m...

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Problems solved by technology

[0003] The vehicle trajectory estimation method uses multiple sensors to measure the vehicle's driving speed and front wheel swing angle information. Contains a large proportion of noise signals, and the obtained predicted trajectory deviates greatly from the actual trajectory. To solve this shortcoming, there is a method of combining vehicle kinematics and dynamics models to predict the possible driving trajectory of the vehicle in the future, but the real In this case, the vehicle trajectory is complex, the model used is difficult to simulate the real situation, and the calculation complexity of this method is high

[0004] With the development of image processing technology, lane line recognition technology based on monocular vision has gradually matured. Through image segmentation, detection of edge points of lane lines, application of lane line models to simulate real lane lines, and formulation of early warning strategies for vehicle early warning schemes have been widely used. However, due to the influence of light and ground conditions on lane line detection, there is interference information in the detection results, which affects the recognition of correct lane lines, thus affecting vehicle early warning

[0005] The setting of the earliest and latest warning lines in the lane departure system is very important. If the earliest warning line is set too early, or the latest warning line is set too late, it will cause wrong and untimely warnings, which will affect the driving of the driver. For a new driver, it is easy to make a mistake to press the line for a long time, or to drive on the left (right) side of the lane for a long time, which not only affects other people's driving, but also develops bad driving habits. The departure system only gives reminders for departure from the lane line, but does not give reminders for the above states

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