CN105620359B - A kind of lane departure warning method and system based on mobile terminal - Google Patents
A kind of lane departure warning method and system based on mobile terminal Download PDFInfo
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- CN105620359B CN105620359B CN201610102694.9A CN201610102694A CN105620359B CN 105620359 B CN105620359 B CN 105620359B CN 201610102694 A CN201610102694 A CN 201610102694A CN 105620359 B CN105620359 B CN 105620359B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000015572 biosynthetic process Effects 0.000 claims description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
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- Automation & Control Theory (AREA)
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- Physics & Mathematics (AREA)
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- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of lane departure warning method and system based on mobile terminal, including：Step S10 obtains the boundary line data in track residing for Current vehicle；Step S20 calculates the axis line position residing for the axis line position, early warning line position and Current vehicle in track according to the boundary line data, the body width of Current vehicle；Step S30 judges whether the distance of the axis line position and the early warning line position residing for Current vehicle reaches early warning value, if so, step S40 is then performed, if it is not, then performing step S10；Step S40 sends driving path warning information.When automotive run-off-road, potential safety hazard be present when, real-time reminding driver adjust vehicle driving path, avoid occur traffic accident.
Description
Technical field
The present invention relates to mobile terminal early warning field, more particularly to a kind of lane departure warning method based on mobile terminal
And system.
Background technology
Trip drive into a kind of trend, when going for a drive, driver has fatigue unavoidably in driving procedure
The problems such as driving or be absent minded, cause vehicle to deviate normal traveling lane, easily collided with other vehicles,
Larger potential safety hazard be present.
In addition, compared to before, increasing people has taken driving license, generates many driver new hands, the skill of new hand
Art is often more not familiar, can not recognize whether the driving trace of oneself is correct in time, may be attention somewhat a little while
The scattered generation that may result in traffic accident of power.
The content of the invention
It is an object of the invention to provide a kind of lane departure warning method and system based on mobile terminal, according to mobile whole
The early warning at end is reminded, and is allowed the vehicle of traveling to keep the planning driving path of correct safety, is reduced the generation of traffic accident.
Technical scheme provided by the invention is as follows：
A kind of lane departure warning method based on mobile terminal, including：Step S10 obtains track residing for Current vehicle
Boundary line data；Step S20 according to the boundary line data, the body width of Current vehicle, calculate track axis line position,
Axis line position residing for early warning line position and Current vehicle；Step S30 judges the axis line position residing for Current vehicle
Whether reach early warning value with the distance of the early warning line position, if so, step S40 is then performed, if it is not, then performing step S10；Step
Rapid S40 sends driving path warning information.
It is further preferred that the step S10 also includes：Step S11 obtains the picture of scene in front of Current vehicle, described
Picture includes the boundary line in track residing for vehicle；Step S12 calculates the boundary line data in track according to the picture of acquisition.
It is further preferred that also include before the step S10：Step S00 is located at the phase in vehicle according to mobile terminal
Data calibration is carried out to position.
It is further preferred that the step S40 also includes：Step S41 sends bend warning information；Step S43 is sent directly
Road warning information；The step S30 also includes：Step S31 is judged residing for the axis line position and Current vehicle in the track
Whether the angle that the axis line position is formed is more than the first preset value, if so, step S41 is then performed, if it is not, then performing step
S43。
It is further preferred that the step S40 also includes：Step S42 sends sharp turn warning information；The step S30 is also
Including：Whether step S32 judges the angle of the formation more than the second preset value, and second preset value is more than described first
Preset value, if so, step S42 is then performed, if it is not, then performing step S10.
It is further preferred that the step S20 also includes：Step S21 shows lane position, the axis line position, institute
State the location of early warning line position and Current vehicle.
The present invention also provides a kind of Lane Departure Warning System based on mobile terminal, including：Data acquisition module, obtain
The boundary line data in track residing for Current vehicle；Position computation module, electrically connected with the data acquisition module, according to the side
The body width of boundary line data, Current vehicle, in calculating residing for the axis line position, early warning line position and Current vehicle in track
Axial location；Wherein, the position computation module also includes：Overall width sub-module stored, store the body width number of Current vehicle
According to；Position judging module, electrically connect, judged residing for Current vehicle with the position computation module, the data acquisition module
Whether the distance of the axis line position and the early warning line position reaches early warning value；Memory module, with the position judgment mould
Block electrically connects, and stores the early warning value；Warning module, electrically connected with the position judging module, if the institute residing for Current vehicle
State axis and be located proximate to the early warning line position to early warning value, then send driving path warning information.
It is further preferred that also include：Data calibration module, electrically connected with the data acquisition module, according to mobile whole
Relative position of the end in vehicle carries out data calibration；The data acquisition module also includes：Picture acquisition submodule, obtain
The picture of scene, the picture include the boundary line in track residing for vehicle in front of Current vehicle；Data calculating sub module, it is and described
Picture acquisition submodule electrically connects, and according to the picture of acquisition, calculates the boundary line data in track.
It is further preferred that the position judging module also includes：Angle judging submodule, judge the axis in the track
Whether the angle that line position is formed with the axis line position residing for Current vehicle is more than the first preset value；Preset value storage
Module, electrically connected with the angle judging submodule, store first preset value；The warning module also includes：Bend is pre-
Alert submodule, is electrically connected with the angle judging submodule, when axis line position and the institute residing for Current vehicle in the track
When stating the angle of axis line position formation more than the first preset value, bend warning information is sent；Straight way early warning submodule, it is and described
Angle judging submodule electrically connects, when the axis line position in the track and the axis line position residing for Current vehicle are formed
Angle when being not above the first preset value, send straight way warning information.
It is further preferred that the angle judging submodule, be further used for judging the axis line position in the track with
Whether the angle that the axis line position residing for Current vehicle is formed is more than the second preset value；The preset value stores submodule
Block, it is further used for storing second preset value, and second preset value is more than first preset value；The early warning mould
Block also includes：Sharp turn early warning submodule, electrically connected with the angle judging submodule, when the axis line position in the track is with working as
When the angle that the axis line position residing for vehicle in front is formed is more than the second preset value, sharp turn warning information is sent.
Compared with prior art, the beneficial effects of the present invention are：
1st, according to the lane line data and vehicle of the acquisition width of itself, current driving path is obtained in real time whether
Home in track, if sending warning information in dangerous situation and reminding human pilot to adjust oneself
Wheelpath, the generation to avoid traffic accident.
2nd, by the camera of mobile terminal, the border line chart in track is shot, using image recognition technology, calculates track
Width, be easy to follow-up early warning to remind.
During the centre position the 3rd, mobile terminal being fixed on every time in vehicle, it is impossible to ensure each position be it is certain,
Therefore, it is necessary to allow mobile terminal to be collected according to the position correction being currently located in vehicle before monitoring driving path in real time is entered
Lane line data, for subsequent vehicle driving trace whether safety judgement accurate data basis is provided.
4th, when judging whether current driving path is safe, further determine whether that bend can be entered, if front is curved
Road, then the warning information of bend is sent, make driver watchful, the travel conditions of sharp bend.
5th, when judging that there is bend in front, whether the bend for determining whether front is sharp turn, if so, then sending early warning letter
Breath, the driving path and speed for making driver there is the regular hour to adjust oneself, avoid turning not enough and accident occurring.
6th, according to the data of acquisition, on the display screen of mobile terminal, show the position of current lane, early warning line position,
The position in track at the axis line position and Current vehicle in track, allows driver is simple, is visually known its current row
Path is sailed, when driving path has potential safety hazard, rapidly adjusts the steering wheel of oneself, allows vehicle to be in safe traveling road
On footpath.
A kind of lane departure warning method and system based on mobile terminal of the present invention, according to the information collected, when
Automotive run-off-road, when potential safety hazard be present, real-time reminding driver adjusts the driving path of vehicle, avoids that traffic thing occurs
Therefore；Whether have bend, sharp turn, allow driver to improve notice if can also remind in front of driver, adjusts speed and direction, peace in time
Full by bend；The present invention be based on existing for mobile terminal, with the popularization of mobile terminal, have cost it is cheap, using wide
The advantages of general.
Brief description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to a kind of based on mobile terminal
Above-mentioned characteristic, technical characteristic, advantage and its implementation of lane departure warning method and system are further described.
Fig. 1 is the flow chart of lane departure warning method one embodiment of the invention based on mobile terminal；
Fig. 2 is the flow chart of lane departure warning method another embodiment of the present invention based on mobile terminal；
Fig. 3 is the structural representation of Lane Departure Warning System one embodiment of the invention based on mobile terminal；
Fig. 4 is the structural representation of Lane Departure Warning System another embodiment of the present invention based on mobile terminal；
Fig. 5 is the operating diagram of one embodiment of the invention；
Fig. 6 is the operating diagram of another embodiment of the present invention.
Drawing reference numeral explanation：
1. data acquisition module, 2. position computation modules, 3. overall width sub-module storeds, 4. position judging modules, 5. storages
Module, 6. warning modules, 7. data calibration modules, 8. picture acquisition submodules, 9. data calculating sub modules, 10. angles judge
Submodule, 11. preset value sub-module storeds, 12. bend early warning submodules, 13. sharp turn early warning submodules, 14. vehicles, 15. move
Dynamic terminal, 16. straight way early warning submodules.
Embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The embodiment of the present invention.It should be evident that drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically show in each figure, they are not represented
Its structure as product.In addition, so that simplified form readily appreciates, there is the portion of identical structure or function in some figures
Part, one of those is only symbolically depicted, or only marked one of those.Herein, "one" is not only represented " only
This ", the situation of " more than one " can also be represented.
In one embodiment of the invention, referring to Fig. 1, a kind of lane departure warning method based on mobile terminal, bag
Include：Step S10 obtains the boundary line data in track residing for Current vehicle；Step S20 is according to boundary line data, the car of Current vehicle
Body width, calculate the axis line position residing for the axis line position, early warning line position and Current vehicle in track；Step S30 judges
Whether the distance of axis line position and early warning line position residing for Current vehicle reaches early warning value, if so, step S40 is then performed,
If it is not, then perform step S10；Step S40 sends driving path warning information.
Realized specifically, the present invention relies on mobile terminal, centre position mobile terminal being positioned in vehicle,
According to the boundary line in the track obtained in real time, the width of vehicle itself, judge whether current driving path significantly deviates car
Road, certain potential safety hazard be present, so as to send warning information.Optimal driving path is the axis and track of vehicle in itself
Axis overlap, ensure that vehicle is in the centre in track, equal space is vacated in left and right；Early warning line is the width according to track
With the local width of vehicle and determine, early warning value is then its axis according to the side of vehicle completely and during early warning line coincidence
The distance between early warning line.Two early warning lines can be all typically given, is easy to driver to pay attention to the left and right sides of oneself, works as vehicle
During positioned at the Through Lane of the track rightmost side, the early warning line in left side can also be only provided, the rank on right side all can along general driver
Avoid, therefore the early warning line in left side can be only provided, remind driver not take other tracks.
Preferably, step S10 also includes：Step S11 obtains the picture of scene in front of Current vehicle, and the picture includes car
The boundary line in residing track；Step S12 calculates the boundary line data in track according to the picture of acquisition.
Specifically, shooting the picture of scene in front of track using the camera of mobile terminal, then extract again in picture
Lane line, the width in track is obtained, subsequently to judge whether driving path provides the foundation safely.
Preferably, also include before step S10：The relative position that step S00 is located at according to mobile terminal in vehicle is carried out
Data calibration.
Specifically, when mobile terminal being fixed on the centre position of vehicle interior, it is impossible to ensure that its each position is all
It is consistent, therefore ensure the accuracy of follow-up real time data before being monitored, send correctly, it is necessary to carry out data calibration
Early warning is reminded.For example, when mobile terminal placement to the left, it is necessary to by the data that it is arrived in this station acquisition, with mobile middle-end
The data collected when centre are placed on to be compared, so as to carry out data calibration, ensure feedback data it is correct.
Preferably, step S40 also includes：Step S41 sends bend warning information；Step S43 sends straight way warning information；
Step S30 also includes：Step S31 judges the angle that the axis line position in track is formed with the axis line position residing for Current vehicle
Whether more than the first preset value, if so, step S41 is then performed, if it is not, then performing step S43.
Preferably, step S40 also includes：Step S42 sends sharp turn warning information；Step S30 also includes：Step S32 sentences
Whether the disconnected angle formed is more than the second preset value, and second preset value is more than first preset value, if so, then performing
Step S42, if it is not, then performing step S10.
Specifically, referring to Fig. 6, whether reached according to the axis L6 of the vehicle and axis L0 in the track angle, θs formed
Certain value, judges whether front has bend, reminds driver to pay attention to speed and control direction in time.When vehicle is kept straight on, work as car
When small skew occurs, the axis L6 of vehicle and the axis L0 in track can also form a small angle, θ, therefore
Determine whether during bend, it is necessary to exclude the situation of this low-angle, when the angle of formation reaches the first preset value, to send curved
Road early warning is reminded；Judge whether the angle, θ to be formed reaches the second preset value again, because the angle, θ formed is bigger, illustrate bend
Degree of crook it is bigger, when the angle, θ of formation reaches the second preset value, illustrate that this bend is sharp turn and driven, it is necessary to remind again
The person of sailing notices that the generation to avoid traffic accident, the second preset value is more than the first preset value.First preset value and the second preset value category
In the data that those skilled in the art can draw, it is not described herein.
Preferably, step S20 also includes：Step S21 shows lane position, axis line position, early warning line position and current
The location of vehicle.
Specifically, only the phonetic warning of mobile terminal may can not allow the clearly current situation of driver, shifting is utilized
The display screen of dynamic terminal shows the position of current track, the axis in track, early warning line and Current vehicle, can make driver
Intuitively understand the situation residing for oneself, fast reaction, the direction for adjusting vehicle, reduce the generation of accident.
In another embodiment of the present invention, referring to Fig. 2, a kind of lane departure warning method based on mobile terminal,
Including：The relative position that step S00 is located at according to mobile terminal in vehicle carries out data calibration；Step S10 obtains Current vehicle
The boundary line data in residing track；Step S10 also includes：Step S11 obtains the picture of scene in front of Current vehicle, the picture
Include the boundary line in track residing for vehicle；Step S12 calculates the boundary line data in track according to the picture of acquisition；Step S20 roots
According to boundary line data, the body width of Current vehicle, calculate residing for the axis line position, early warning line position and Current vehicle in track
Axis line position；Step S20 also includes：Step S21 shows lane position, axis line position, early warning line position and current vehicle
Location；Step S30 judges whether the distance of axis line position and early warning line position residing for Current vehicle reaches pre-
Alert value, if so, step S40 is then performed, if it is not, then performing step S10；Step S30 also includes：Step S31 is judged in track
Whether the angle that axial location is formed with the axis line position residing for Current vehicle is more than the first preset value, if so, then performing step
Rapid S41, if it is not, then performing step S43；Whether step S32 judges the angle to be formed more than the second preset value, and described second pre-
If value is more than first preset value, if so, step S42 is then performed, if it is not, then performing step S10；Step S40 sends traveling
Path warning information；Step S40 also includes：Step S41 sends bend warning information；Step S42 sends sharp turn warning information；Step
Rapid S43 sends straight way warning information.
Specifically, referring to Fig. 5, two on the line of demarcation L3 on the both sides of camera collection vehicle 14 of mobile terminal 15 are utilized
Symmetric points D2 and D4 on point D1 and D3, L4, the width in track is drawn, so as to which axis L0, the early warning line in track be calculated
L1, L2, (L6 is overlapped the axis L6 of Current vehicle 14 with the axis L0 in track in vehicle in Fig. 5, therefore is not got the bid in figure
Go out), the position of line of demarcation L3, L4 position in track, early warning line L1, L2 positions and vehicle 14 is shown on mobile terminals, is easy to
Driver intuitively understands current situation, when vehicle running path shifts, has bend, sharp turn, remind driver and
When adjust direction of traffic and speed, avoid the generation of accident.When obtaining lane line data, can be adopted according to certain frequency
Collect the information in track, ensure the real-time of feedback data, allow driver to understand current travel situations constantly, make corresponding
Reaction.In addition, early warning line position is changed with the width in track and the width of vehicle.In the present embodiment, can be first
Bend is determined whether, if so, then sending bend prompting, then judges whether this bend is sharp turn again, can again if sharp turn
Send sharp turn prompting；In other embodiments, the bend that directly can also judge to run into is common bend or sharp turn, then only
The prompting once on bend is sent, i.e., common bend is reminded, or, sharp turn is reminded.
In another embodiment of the present invention, referring to Fig. 3, a kind of Lane Departure Warning System based on mobile terminal,
Including：Data acquisition module 1, obtain the boundary line data in track residing for Current vehicle；Position computation module 2, with data acquisition
Module electrically connects, and according to boundary line data, the body width of Current vehicle, calculates axis line position, the early warning line position in track
With the axis line position residing for Current vehicle；Wherein, position computation module 2 also includes：Overall width sub-module stored 3, storage are current
The body width data of vehicle；Position judging module 4, electrically connect, judge current with position computation module 2, data acquisition module 1
Whether the distance of axis line position and early warning line position residing for vehicle reaches early warning value；Memory module 5, with position judging module
4 electrical connections, store early warning value；Warning module 6, electrically connected with position judging module 4, if the axis line position residing for Current vehicle
Close to early warning line position to early warning value, then driving path warning information is sent.
Specifically, data acquisition module 1 can be completed by the camera of mobile terminal, the boundary line picture in track is shot,
Picture processing is carried out, to draw the width in track；Because the vehicle of each car is different, it is necessary to which user sets oneself Current vehicle
Width, be easy to follow-up calculating, analysis；Warning module 6 is performed by the microphone of mobile terminal, sends voice message.At it
In its embodiment, can also in the actual motion track of the display screen display vehicle of mobile terminal, when driving path occur it is inclined
When moving, there is potential safety hazard, while voice reminder is sent, can also occur red exclamation mark early warning on display screen, allow and drive
The person of sailing focuses on.
Preferably, in addition to：Data calibration module 7, electrically connected with data acquisition module 1, car is located at according to mobile terminal
Relative position in carries out data calibration；Data acquisition module 1 also includes：Picture acquisition submodule 8, before obtaining Current vehicle
Fang Jingxiang picture, the picture include the boundary line in track residing for vehicle；Data calculating sub module 9, submodule is obtained with picture
Block 8 electrically connects, and according to the picture of acquisition, calculates the boundary line data in track.
Specifically, mobile terminal can be fixed on the centre position in vehicle, vehicle front scene is shot by its camera
Picture, after processing, analysis picture, draw the width in track；In holding movable terminal, it is impossible to ensure the position placed every time
Unanimously, it is therefore desirable to carry out data calibration, ensure subsequent acquisition, the correctness of feedack, accurate early warning can be provided
Information.
Preferably, position judging module 4 also includes：Angle judging submodule 10, judge the axis line position in track with working as
Whether the angle that the axis line position residing for vehicle in front is formed is more than the first preset value；Preset value sub-module stored 11, with angle
Judging submodule 10 electrically connects, and stores the first preset value；Warning module 6 also includes：Bend early warning submodule 12, judge with angle
Submodule 10 electrically connects, when the angle that the axis line position in track is formed with the axis line position residing for Current vehicle is more than first
During preset value, bend warning information is sent；Straight way early warning submodule 16, is electrically connected with angle judging submodule 10, when track
When the angle that axis line position is formed with the axis line position residing for Current vehicle is not above the first preset value, send straight
Road warning information.
Preferably, angle judging submodule 10, it is further used for judging residing for the axis line position and Current vehicle in track
Axis line position formed angle whether more than the second preset value；Preset value sub-module stored 11, it is further used for storage
Two preset values, and second preset value is more than first preset value；Warning module 6 also includes：Sharp turn early warning submodule 13,
Electrically connected with angle judging submodule 10, when the angle that the axis line position in track is formed with the axis line position residing for Current vehicle
When degree is more than the second preset value, sharp turn warning information is sent.
Specifically, when judging whether driving path shifts, it may further determine whether that bend can be run into, have
Words, send bend early warning；Whether the bend for further judging to run into is sharp turn, if if, the early warning at sharp turn is sent again.
Bend, especially sharp turn, it is the area occurred frequently that accidents happened, in driving over a long distance, driver tired out is possibly can not be in time to curved
Road, sharp turn, which are made, timely reacts, and so as to lead to a disaster, the early warning in these locations can allow driver to enhance your vigilance, and reduces
The incidence of accident.
In another embodiment of the present invention, referring to Fig. 4, a kind of Lane Departure Warning System based on mobile terminal,
Including：Data calibration module 7, electrically connected with data acquisition module 1, the relative position being located at according to mobile terminal in vehicle is carried out
Data calibration；Data acquisition module 1, obtain the boundary line data in track residing for Current vehicle；Data acquisition module 1 also includes：
Picture acquisition submodule 8, obtains the picture of scene in front of Current vehicle, and the picture includes the boundary line in track residing for vehicle
Picture；Data calculating sub module 9, electrically connected with picture acquisition submodule 8, according to the picture of acquisition, calculate the boundary line in track
Data；Position computation module 2, electrically connected with data acquisition module 1, according to boundary line data, the body width of Current vehicle, meter
Calculate the axis line position residing for the axis line position, early warning line position and Current vehicle in track；Wherein, position computation module 2 is gone back
Including：Overall width sub-module stored 3, store the body width data of Current vehicle；Position judging module 4, with position computation module
2nd, data acquisition module 1 electrically connects, and judges whether the distance of axis line position and early warning line position residing for Current vehicle reaches
Early warning value；Position judging module 4 also includes：Angle judging submodule 10, judge axis line position and the Current vehicle institute in track
The angle that the axis line position at place is formed whether more than the first preset value, and, judge the axis line position and current vehicle in track
Whether the angle that the axis line position residing for is formed is more than the second preset value；Preset value sub-module stored 11, judge with angle
Submodule 10 electrically connects, and stores the first preset value, and, the second preset value is stored, and second preset value is more than described the
One preset value；Memory module 5, electrically connected with position judging module 4, store early warning value；Warning module 6, with position judging module 4
Electrical connection, if the axis residing for Current vehicle is located proximate to early warning line position to early warning value, send driving path early warning letter
Breath；Warning module 6 also includes：Bend early warning submodule 12, is electrically connected with angle judging submodule 10, when the axis position in track
When putting the angle formed with the axis line position residing for Current vehicle more than the first preset value, bend warning information is sent；Sharp turn
Early warning submodule 13, electrically connected with angle judging submodule 10, when axis line position and the axis residing for Current vehicle in track
When the angle that line position is formed is more than the second preset value, sharp turn warning information is sent；Straight way early warning submodule 16, judge with angle
Submodule 10 electrically connects, when the angle that the axis line position in track is formed with the axis line position residing for Current vehicle does not have
During more than the first preset value, straight way warning information is sent.
Specifically, according to the information of acquisition, it is located at the position in track in the display screen display Current vehicle of mobile terminal,
Optimal driving path is (to be overlapped positioned at the centre in track referring to Fig. 5, the axis L6 of vehicle and the axis L0 in track), when
When vehicle is too close to track side, phonetic warning information is sent, can also occur early warning, example on a display screen simultaneously
Such as：Red exclamation mark flashes.When entering bend, sharp turn, remind driver to enhance your vigilance in advance, pay attention to direction and reduce traveling
Speed, it may be necessary to blow a whistle, avoid that traffic accident occurs.Using the popularity rate of mobile terminal, user is allowed not have to pay additionally
Spend, you can to enjoy lane departure warning, be easy to be used extensively, so as to reduce the probability of happening of traffic accident.
It should be noted that above-described embodiment can independent assortment as needed.Described above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, do not departing from the premise of the principle of the invention
Under, some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (9)
- A kind of 1. lane departure warning method based on mobile terminal, it is characterised in that including：The relative position that step S00 is located at according to mobile terminal in vehicle carries out data calibration；Step S10 obtains the boundary line data in track residing for Current vehicle；Step S20 calculates axis line position, the early warning line in track according to the boundary line data, the body width of Current vehicle Axis line position residing for position and Current vehicle；Early warning line is determined according to the width in track and the local width of vehicle 's；Step S30 judges whether the distance of the axis line position and the early warning line position residing for Current vehicle reaches early warning Value, early warning value are in the side of vehicle completely and during early warning line coincidence, between the axis and early warning line residing for Current vehicle Distance；If so, step S40 is then performed, if it is not, then performing step S10；Step S40 sends driving path warning information.
- A kind of 2. lane departure warning method based on mobile terminal as claimed in claim 1, it is characterised in that the step S10 also includes：Step S11 obtains the picture of scene in front of Current vehicle, and the picture includes the boundary line in track residing for the vehicle；Step S12 calculates the boundary line data in track according to the picture of acquisition.
- A kind of 3. lane departure warning method based on mobile terminal as claimed in claim 1, it is characterised in that the step S40 also includes：Step S41 sends bend warning information；Step S43 sends straight way warning information；The step S30 also includes：Step S31 judges that the angle that the axis line position in the track is formed with the axis line position residing for Current vehicle is It is no more than the first preset value, if so, step S41 is then performed, if it is not, then performing step S43.
- A kind of 4. lane departure warning method based on mobile terminal as claimed in claim 3, it is characterised in that the step S40 also includes：Step S42 sends sharp turn warning information；The step S30 also includes：Whether step S32 judges the angle of the formation more than the second preset value, and second preset value is more than described first Preset value, if so, step S42 is then performed, if it is not, then performing step S10.
- A kind of 5. lane departure warning method based on mobile terminal as described in claim 1-4 is any, it is characterised in that institute Stating step S20 also includes：Step S21 shows the location of lane position, the axis line position, the early warning line position and Current vehicle.
- A kind of 6. Lane Departure Warning System based on mobile terminal, it is characterised in that including：Data calibration module, is electrically connected with data acquisition module, and being located at the relative position in vehicle according to mobile terminal enters line number According to calibration；Data acquisition module, obtain the boundary line data in track residing for Current vehicle；Position computation module, electrically connected with the data acquisition module, it is wide according to the vehicle body of the boundary line data, Current vehicle Degree, calculates the axis line position residing for the axis line position, early warning line position and Current vehicle in track；Early warning line is according to track Width and vehicle local width and determine；Wherein, the position computation module also includes：Overall width sub-module stored, store the body width data of Current vehicle；Position judging module, electrically connect, judged residing for Current vehicle with the position computation module, the data acquisition module Whether the distance of the axis line position and the early warning line position reaches early warning value；Early warning value be the side of vehicle completely and When early warning line overlaps, the distance between axis and early warning line residing for Current vehicle；Memory module, electrically connected with the position judging module, store the early warning value；Warning module, electrically connected with the position judging module, if the axis residing for Current vehicle be located proximate to it is described Early warning line position then sends driving path warning information to early warning value.
- A kind of 7. Lane Departure Warning System based on mobile terminal as claimed in claim 6, it is characterised in that：The data acquisition module also includes：Picture acquisition submodule, obtains the picture of scene in front of Current vehicle, and the picture includes track residing for the vehicle Boundary line；Data calculating sub module, electrically connected with the picture acquisition submodule, according to the picture of acquisition, calculate the institute in track State boundary line data.
- A kind of 8. Lane Departure Warning System based on mobile terminal as claimed in claim 6, it is characterised in that the position Judge module also includes：Angle judging submodule, judge that the axis line position in the track is formed with the axis line position residing for Current vehicle Angle whether more than the first preset value；Preset value sub-module stored, electrically connected with the angle judging submodule, store first preset value；The warning module also includes：Bend early warning submodule, electrically connected with the angle judging submodule, when the axis line position and current vehicle in the track When the angle that the axis line position residing for is formed is more than the first preset value, bend warning information is sent；Straight way early warning submodule, electrically connected with the angle judging submodule, when the axis line position and current vehicle in the track When the angle that the axis line position residing for is formed is not above the first preset value, straight way warning information is sent.
- A kind of 9. Lane Departure Warning System based on mobile terminal as claimed in claim 8, it is characterised in that：The angle judging submodule, be further used for judging the axis line position in the track with it is described residing for Current vehicle Whether the angle that axis line position is formed is more than the second preset value；The preset value sub-module stored, it is further used for storing second preset value, and second preset value is more than institute State the first preset value；The warning module also includes：Sharp turn early warning submodule, electrically connected with the angle judging submodule, when the axis line position and current vehicle in the track When the angle that the axis line position residing for is formed is more than the second preset value, sharp turn warning information is sent.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107662558B (en) * | 2016-07-27 | 2020-04-03 | 上海博泰悦臻网络技术服务有限公司 | Driving assisting method and device based on external environment data |
| CN108082192B (en) * | 2016-11-22 | 2020-06-19 | 比亚迪股份有限公司 | Lane departure early warning method and device |
| CN107310553B (en) * | 2017-06-27 | 2019-05-07 | 安徽江淮汽车集团股份有限公司 | It is a kind of to prevent the unilateral deviation alarm method and system for deviateing repetition of alarms |
| CN107826116A (en) * | 2017-10-31 | 2018-03-23 | 安徽融合智能科技有限公司 | The operating method of automobile active safety drive assist system based on mobile terminal |
| CN108422998A (en) * | 2018-03-14 | 2018-08-21 | 合肥工业大学 | A kind of deviation supplementary controlled system and method |
| CN110415378A (en) * | 2019-07-27 | 2019-11-05 | 河南湍河新能源科技有限公司 | The method that electric car travels auxiliary adjustment instrument and carries out the adjusting of electric car wheelpath according to it |
| CN110533930B (en) * | 2019-10-09 | 2021-02-02 | 业成科技（成都）有限公司 | Traffic data processing method and device, computer equipment and storage medium |
| DE102020115775A1 (en) * | 2020-06-16 | 2021-12-16 | HELLA GmbH & Co. KGaA | Method for displaying a horizontal distance between a motor vehicle and a lane boundary |
| CN119394593A (en) * | 2024-10-22 | 2025-02-07 | 海微智造技术(武汉)有限公司 | Vehicle display screen flicker detection method, device, equipment and storage medium |
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