CN106904167A - A kind of lane departure warning method based on OBD, car-mounted terminal and intelligent automobile - Google Patents

Abstract

An embodiment of the present invention provides an OBD-based lane departure warning method, a vehicle-mounted terminal, and a smart car, wherein the method includes: the vehicle-mounted terminal predicts the driving route of the vehicle within a first preset time period; and identifies the lane line of the current driving lane ; Based on the driving route and the lane line, predict whether the vehicle may deviate from the lane; if the vehicle may deviate from the lane, send an alarm signal through the on-board diagnostic OBD interface. The embodiment of the present invention can apply the on-board diagnostic OBD interface to the lane departure warning, which enriches the functions of the OBD, can effectively ensure the driving safety of the driver, and reduce the occurrence of accidents.

Description

An OBD-based lane departure warning method, vehicle-mounted terminal and smart car

technical field

The present invention relates to the technical field of automobile active safety, in particular to an OBD-based lane departure warning method, an OBD-based vehicle-mounted terminal for lane departure warning, and a smart car.

Background technique

With the rapid development of the automobile industry and the continuous popularization of family cars, the huge market potential of the life after the car has attracted widespread attention from all parties. After years of market development and popularization, OBD (On-BoardDiagnostic) has been widely used in various types of vehicles. OBD is connected to the electronic control unit (ECU) through various emission-related component information, and the ECU has the function of detecting and analyzing emission-related faults. When an emission failure occurs, the ECU records the failure information and related codes, and issues a warning through the failure light to inform the driver.

At present, OBD is mostly used for detecting exhaust gas and diagnosing vehicle power systems closely related to emissions, and its functions are relatively simple.

Contents of the invention

In view of the above-mentioned problems, the present invention is proposed to provide an OBD-based lane departure warning method and a corresponding OBD-based vehicle-mounted terminal for lane departure warning that overcome the above-mentioned problems or at least partially solve the above-mentioned problems, and a smart car.

According to one aspect of the present invention, an OBD-based lane departure warning method is provided, the method comprising:

The vehicle-mounted terminal predicts the driving route of the vehicle within the first preset time period;

Identify the lane lines of the current driving lane;

Predict whether the vehicle may deviate from a lane based on the driving route and the lane line;

If the vehicle may deviate from the lane, an alarm signal is sent through the on-board diagnostic OBD interface.

Optionally, the method also includes:

If the driver's correction operation is not detected within the second preset time period when the alarm signal is issued, the driving state of the vehicle is automatically corrected.

Optionally, the step of the vehicle-mounted terminal predicting the driving route of the vehicle within the first preset time period includes:

The vehicle-mounted terminal acquires the current location information of the vehicle;

Obtain the vehicle speed and steering wheel signals of the vehicle through the OBD interface;

Predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

Optionally, the step of identifying the lane line of the current driving lane includes:

Obtain the image signal of the current driving lane;

Preprocessing the image signal;

Carry out Canny edge detection and Hough transform on the preprocessed image signal to extract lane lines.

Optionally, the step of predicting whether the vehicle may deviate from the lane based on the driving route and the lane line includes:

Judging whether the driving route intersects the lane line through the OBD interface;

If so, it is determined that lane departure may occur;

If not, it is determined that no lane departure has occurred.

Optionally, the step of predicting whether the vehicle may deviate from the lane based on the driving route and the lane line includes:

Obtain the vertical distance between the driving route and the lane line through the OBD interface;

If the vertical distance is less than a preset threshold, it is determined that lane departure may occur;

If the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

Optionally, the alarm signal includes at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

Optionally, if the driver's correction operation is not detected within the second preset time period when the alarm signal is issued, the step of automatically correcting the driving state of the vehicle includes:

If the driver's correcting operation is not detected within the second preset period of time when the alarm signal is issued, the steering wheel is automatically corrected so that the vehicle automatically returns to the normal route.

According to another aspect of the present invention, a vehicle-mounted terminal for lane departure warning based on OBD is provided, the vehicle-mounted terminal includes:

a driving route prediction module, adapted to predict the driving route of the vehicle within the first preset time period;

A lane line recognition module, adapted to identify the lane line of the current driving lane;

A lane departure judging module, adapted to predict whether the vehicle may deviate from a lane based on the driving route and the lane line;

The alarm module is adapted to send out an alarm signal through the OBD interface of the vehicle when the vehicle may deviate from the lane.

Optionally, the vehicle-mounted terminal also includes:

The correction module is adapted to automatically correct the driving state of the vehicle when no correction operation by the driver is detected within the second preset time period when the alarm signal is issued.

Optionally, the driving route prediction module is also suitable for:

The vehicle-mounted terminal acquires the current location information of the vehicle;

Obtain the vehicle speed and steering wheel signals of the vehicle through the OBD interface;

Predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

Optionally, the lane line recognition module is also suitable for:

Obtain the image signal of the current driving lane;

Preprocessing the image signal;

Carry out Canny edge detection and Hough transform on the preprocessed image signal to extract lane lines.

Optionally, the lane departure judging module is further adapted to:

Judging whether the driving route intersects the lane line through the OBD interface;

If so, it is determined that lane departure may occur;

If not, it is determined that no lane departure has occurred.

Optionally, the lane departure judging module is further adapted to:

Obtain the vertical distance between the driving route and the lane line through the OBD interface;

If the vertical distance is less than a preset threshold, it is determined that lane departure may occur;

If the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

Optionally, the alarm signal includes at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

Optionally, the correction module is also suitable for:

If the driver's correcting operation is not detected within the second preset period of time when the alarm signal is issued, the steering wheel is automatically corrected so that the vehicle automatically returns to the normal route.

According to another aspect of the present invention, a smart car is provided, including the above-mentioned vehicle-mounted terminal.

According to the OBD-based lane departure warning method, vehicle-mounted terminal, and smart car of the present invention, it is possible to actively predict whether the vehicle may occur based on the vehicle's driving route and identified lane lines within the first preset time period predicted by the OBD interface. Lane departure, and when it is predicted that the vehicle may deviate from the lane, it will send an alarm signal to the driver through the OBD interface, and the on-board diagnostic OBD interface is applied to the lane departure warning, which enriches the functions of OBD and can effectively ensure the driving safety of the driver. Safety and reduce the occurrence of accidents.

The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiment. The drawings are only for the purpose of illustrating a preferred embodiment and are not to be considered as limiting the invention. Also throughout the drawings, the same reference numerals are used to designate the same components. In the attached picture:

Fig. 1 shows a flow chart of the steps of Embodiment 1 of an OBD-based lane departure warning method according to an embodiment of the present invention;

FIG. 2 shows a flow chart of the steps of Embodiment 2 of an OBD-based lane departure warning method according to an embodiment of the present invention; and

Fig. 3 shows a structural block diagram of an embodiment of an OBD-based vehicle-mounted terminal for lane departure warning according to an embodiment of the present invention.

detailed description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

Referring to FIG. 1 , it shows a flow chart of the steps of Embodiment 1 of an OBD-based lane departure warning method according to an embodiment of the present invention, which can be applied to a smart car with a vehicle-mounted terminal. In a preferred embodiment, the vehicle-mounted terminal can be equipped with a vehicle-mounted unit (On board Unit, OBU for short), wherein, in ETC (Electronic TollCollection, electronic non-stop charging system), the OBU is placed on the vehicle, and the DSRC ( Dedicated Short Range Communication, dedicated short-range communication technology), communicates with the Road Side Unit (RSU for short) set up on the roadside through microwaves.

Preferably, the vehicle terminal can also be equipped with OBD (On-Board Diagnostic, on-board diagnostic system), OBD monitors multiple systems and components in the smart car, including engine, catalytic converter, particle trap, oxygen sensor, emission Control system, fuel system, EGR (exhaust gas recirculation system), etc. OBD is connected to the electronic control unit (ECU) through various emission-related component information, and the ECU has the function of detecting and analyzing emission-related faults. When an emission failure occurs, the ECU records the failure information and related codes, and issues a warning through the failure light to inform the driver. ECU guarantees the access and processing of fault information through standard data interface.

Furthermore, the OBD interface is used as the communication interface of the on-board monitoring system. In addition to reading the fault code, it can also provide various working condition data of the vehicle, such as the data displayed on the vehicle instrument, various fuel consumption records, battery voltage, air-fuel ratio, fuel economy, etc. Valve opening, knock amount, etc.

The embodiment of the present invention may specifically include the following steps:

Step 101, the vehicle-mounted terminal predicts the driving route of the vehicle within the first preset time period;

Applied to the embodiment of the present invention, the vehicle-mounted terminal can preset the driving route of the vehicle within a preset time period.

In a preferred embodiment of the embodiment of the present invention, step 101 may include the following sub-steps:

In sub-step S11, the vehicle-mounted terminal obtains the current location information of the vehicle;

In a specific implementation, the vehicle-mounted terminal can adopt a positioning system, for example, GPS (Global Positioning System, Global Positioning System), GNSS (Global Navigation Satellite System, global satellite navigation system), BDS (BeiDou Navigation Satellite System, China Beidou Satellite Navigation System) , GLONASS (Glonass satellite navigation system), etc. to obtain real-time location information.

As an example of an embodiment of the present invention, the location information may include but not limited to at least one of the following: the latitude and longitude of the current location, important buildings near the current location, the moving direction of the vehicle terminal location change, and so on.

Sub-step S12, obtaining the vehicle speed and steering wheel signals of the vehicle through the on-board diagnostic OBD interface;

In a specific implementation, the vehicle speed and steering wheel signals of the vehicle can be obtained from the vehicle OBD interface through a CAN (Controller Area Network, controller area network) bus.

Wherein, the steering wheel signal may include the angle of rotation of the steering wheel, and the angle of rotation of the steering wheel corresponds to the yaw angle of the vehicle.

In practice, a frequency parameter can be set so that the vehicle-mounted terminal obtains the vehicle speed and steering wheel signals of the vehicle from the OBD at a certain frequency according to the frequency parameter.

Sub-step S13, predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

In one embodiment, the following method can be used to predict the driving route of the vehicle within the first preset time period: the position information of the vehicle changes with the driving of the vehicle, and according to the vehicle speed, driving direction and driving time, it can be calculated The position of the vehicle at each time point is obtained, and the positions of all time points within the first preset time period are connected to obtain the driving route of the vehicle within the first preset time period.

In another embodiment, the vehicle's driving route within the first preset time period may also be predicted in the following manner: based on the position information, vehicle speed and steering wheel signal, the position the vehicle arrives after driving for the first predetermined time is calculated, so as to A straight line connects the position and the current position of the vehicle to obtain a predicted road section corresponding to the first predetermined time of vehicle travel.

In another embodiment, the following method can also be used to predict the driving route of the vehicle within the first preset time period:

(1) Calculate the maximum lateral acceleration. According to the vehicle speed v at the current moment, combined with the human driver's driving behavior model and the vehicle kinematics and dynamics model, the maximum lateral acceleration acritical allowed by the vehicle at the current vehicle speed v is obtained;

Analyzing the driving behavior of human drivers, in fact, measuring the safety, comfort and other indicators of the driver's driving behavior can be reasonably attributed to the acceleration space of vehicle motion. For vehicles moving at different speeds V, there is a corresponding reasonable lateral acceleration aV for safe and comfortable driving behavior. Therefore, a discrete velocity-lateral acceleration lookup table (V-aV) is established first. For the vehicle speed v at the current moment, find the minimum interval [V1, V2] containing v and its corresponding lateral acceleration values a1, a2 in the lookup table. Based on the principle of interpolation, the maximum lateral acceleration acritica corresponding to the vehicle speed v at the current moment is calculated, and the formula is as follows:

(2) Calculate the minimum turning radius. According to the vehicle speed v at the current moment obtained in (1) and the critical solution obtained from the solution, the minimum turning radius allowed at the current vehicle speed can be calculated according to the vehicle kinematics model Rcritical=v2/acritical, which is the vehicle speed v corresponding to the current moment The arc trajectory of the minimum turning radius.

(3) Predict vehicle trajectory. According to the minimum turning radius determined in (2), the range of the possible vehicle trajectory corresponding to the vehicle speed v at the current moment can be obtained, that is, the area included in the left and right minimum turning radius [-Rcritical, Rcritical].

It should be noted that the above three methods of predicting the vehicle's driving route within the first preset time period are only examples of the embodiment of the present invention, and those skilled in the art use other methods to predict the vehicle's driving route within the first preset time period. All driving routes are possible, which is not limited in this embodiment of the present invention.

Step 102, identifying the lane line of the current driving lane;

Lane lines are solid or dotted lines that separate different driving lanes. In specific implementations, lane lines have the following inherent characteristics: the main color of lane lines is white or yellow; although due to the influence of perspective transformation, the width of lane lines in the image is not The same, but the lane line still has a certain width in the image; the gray value of the lane line is greater than the gray value of the road surface; the lane line is composed of continuous or intermittent lane markings, and it can be assumed that the lane line is continuous to a certain extent; The lane line can be approximately described by a straight line: in general, the curvature of the road curve is small, and the lane line can be treated as a straight line within a certain range in front of the vehicle.

In a preferred embodiment of the embodiment of the present invention, step 102 may include the following sub-steps:

Sub-step S21, acquiring the image signal of the current driving lane;

In a specific implementation, the camera in the smart car can be used to collect image signals of the current driving lane. Previously, the calibration of the camera needs to be completed first. The purpose of camera calibration is mainly to obtain the internal and external parameters of the camera. These parameters are used to calculate the distance between the car body and the left and right lane lines, the distance between the car body and the vehicle in front, and the calculation of the vehicle’s distance. Real height and width etc.

After the camera is calibrated, a certain area can be selected as the lane line detection area, and the area can be captured to obtain an image signal.

Sub-step S22, preprocessing the image signal;

The preprocessing of the image signal is mainly to pre-process the image signal collected by the camera in real time, mainly including removing various noises of the image, and adjusting some parameters in the algorithm according to the position of the camera to extract the region of interest (ROI) of the image, and The purpose of edge detection and so on is to enhance the useful information of the image and suppress interference.

In one embodiment, the above preprocessing may at least include: ROI processing, graying processing, smoothing filter processing, contrast enhancement processing, histogram analysis region and prior knowledge-based dynamic threshold binarization processing on the image.

ROI processing is based on CCD (Charge-coupled Device, charge-coupled device) and CMOS (Complementary Metal Oxide Semiconductor, Complementary Metal Oxide Semiconductor) imaging principles to divide image signals into regions of interest and regions of non-interest for modeling. First, the camera obtains an image based on CCD or CMOS, and after the image is obtained, the image is segmented. The ROI processing on the image aims to approximately take a cutoff point Ym as the cutoff point between the near vision area and the far vision area. Wherein, the near vision area is the region of interest, and the far vision area is the non-interest area. In the near vision area, the lane is approximately seen as a straight line.

Then, ash processing is carried out. The ash processing uses the LAB mode as an intermediary to convert the RGB image acquired by the camera into the LAB mode, and then generates the corresponding equivalent RGB gray scale. That is to say, convert the RGB image to LAB mode, then decolorize in LAB mode, then return to the RGB image and generate an equivalent RGB grayscale, and finally convert to the grayscale space according to the grayscale, and generate the corresponding The grayscale K. The value of the gray scale K is between 0 and 255.

There are many noise points in the image obtained after graying, and the median filtering method is used for processing. Replace the value of a point in a digital image or digital sequence with the median value of each point in a neighborhood (3*3) of the point, so that the surrounding pixel values are close to the real value, thereby eliminating isolated noise points. Using the sliding template from left to right and from top to bottom, the pixels in the display screen are sorted according to the size of the pixel value, and a monotonically rising (or falling) data sequence is generated. The smoothing filtering process adopts the median filtering method, which can nonlinearly and smoothly remove the noise points after graying, and at the same time protect the target boundary so that it is not blurred.

Then, the contrast enhancement process is performed. Since the fullness of the grayscale image obtained after the median filter is low, the contrast enhancement method is used to improve the fullness of the image, which helps the system to clearly distinguish the position of the lane line.

Afterwards, use the histogram to analyze the area. The histogram analysis divides the image into m levels, and there are n pixels with gray value i. The probability of occurrence of pixels at each level is reflected and analyzed in the form of a histogram.

Certainly, the foregoing manner of preprocessing the image signal is only an exemplary description of the embodiment of the present invention, and it is also possible for those skilled in the art to perform other image preprocessing, which is not limited in the embodiment of the present invention.

In sub-step S23, Canny edge detection and Hough transform are performed on the preprocessed image signal to extract lane lines.

After preprocessing the image signal, the lane line can be extracted based on Canny edge detection and Hough transform algorithm.

The Canny edge detection algorithm essentially uses a quasi-Gaussian function for smoothing operations, and then uses a directional first-order differential operator to locate the maximum value of the derivative, and then judges whether the point is an edge point according to the three judgment principles of the Canny operator.

Specifically, according to the definition of Canny, the central edge point is the maximum value in the area of the convolution between the operator and the image in the edge gradient direction, so that it can be judged in the gradient direction of each point whether the intensity of this point is its The maximum value of the neighborhood is used to determine whether the point is an edge point. When a pixel satisfies the following three conditions, it is considered to be an edge point of the image: 1) The edge intensity of the point is greater than two points along the gradient direction of the point. edge intensity of adjacent pixel points; 2) the direction difference between two adjacent points in the gradient direction of this point is less than 45 degrees; 3) the edge intensity maximum value in the 3×3 neighborhood centered on this point is less than some threshold. The lane edge image is obtained by Canny operator edge detection.

In the lane line extraction algorithm, Hough transform is one of the most commonly used methods, and its advantages are good anti-noise performance and stable algorithm. The Hough transform is a parameter estimation technique that uses the voting principle. The principle is to convert the detection problem in the image space to the parameter space by using the point-line duality of the image space and the Hough parameter space. A straight line is detected by performing simple accumulation statistics in the parameter space, and then finding the peak value of the accumulator in the Hough parameter space. The essence of the Hough transform is to cluster the pixels with a certain relationship in the image space, and to find the cumulative corresponding points in the parameter space that can connect these pixels with a certain analytical form.

Pixels in image space can be represented by straight lines in parameter space through projection. In the process of extracting lane lines, you can first determine a polar coordinate system, that is, initialize a two-dimensional array buffer to store the values of the parameter planes ρ, θ, and first set all the data in the array to 0. Then perform Hough transform on each pixel of the road image, traverse the θ angle of all points (the traversed area can be selected according to needs), that is, the polar angle, and calculate all the values of ρ, that is, the polar radius. Add 1 to the parameter array for points corresponding to the same ρ, θ. Finally, find the position of the larger point of the parameter array on the parameter plane. The selection of the larger point can be selected by setting different thresholds according to the transformation needs. This position is the parameter corresponding to the straight line on the road image. In the obtained parameters, there may be multiple lane lines that cause the lane lines to be too wide or polygonal. Therefore, the lane fitting method can be used to perform lane fitting on wide straight lines and multiple boundaries. After the Hough transform accumulates all the points, the threshold of the number of accumulated points is not easy to determine. If the threshold is too large, when the lane line has a dashed line, the discontinuous part of the lane line will affect the cumulative value of the straight line, and the lane line may be missed at this time. If the threshold is too small, other lane lines and road boundaries other than the current lane line will also be considered as lane lines, and certain strategies need to be adopted to extract lane lines.

After the lane line is detected by canny edge, many edge points can be obtained, and these edge points are converted into a curve in Hough space by Hough transform. Create an accumulator array with different values of coordinate parameters Theta and Rho in Hough space. When the curve passes through the corresponding coordinate value, the corresponding coordinate value will add 1 to the accumulator value. In this way, after Hough transformation is performed on all edge points, when the value of the accumulator corresponding to the Hough space coordinate is greater than the set parameter, it is considered that the Theta and Rho values of the coordinate value correspond to a lane line.

Step 103, based on the driving route and the lane line, predict whether the vehicle may deviate from the lane;

After the lane line is extracted, the OBD interface can be used to predict whether the vehicle is likely to deviate from the lane.

In a preferred embodiment of the embodiment of the present invention, step 103 may specifically be: determine whether the driving route intersects the lane line through the OBD interface; if so, determine that lane departure may occur; A lane departure has occurred.

Specifically, if the vehicle's driving route within the first preset time period intersects with the recognized lane line, it means that if the vehicle follows the predicted driving route, lane departure may occur; otherwise, if there is no intersection between the two , indicating that if the predicted driving route is followed, no lane departure will occur.

In a preferred embodiment of the embodiment of the present invention, step 103 may specifically be: obtain the vertical distance between the driving route and the lane line through the OBD interface; if the vertical distance is less than a preset threshold, then determine Lane departure may occur; if the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

Specifically, the OBD interface can be used to detect the distance between the car and the lane line it is driving on. If the distance is less than a threshold, it means that lane departure may occur. If the distance is greater than the threshold, it means that lane departure will not occur.

Step 104, if the vehicle may deviate from the lane, send an alarm signal through the OBD interface of the vehicle.

When the OBD interface detects that the vehicle may deviate from the lane, it can send an alarm signal to the driver at a certain frequency through the OBD interface to warn the driver of the possible lane departure and remind the driver to take appropriate measures to ensure the safety of driving behavior. sex.

As a preferred example of the embodiment of the present invention, the alarm signal may include at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

In the embodiment of the present invention, based on the vehicle's driving route and the identified lane lines within the first preset time period predicted by the OBD interface, it is possible to actively predict whether the vehicle may deviate from the lane, and when it is predicted that the vehicle may deviate from the lane, An alarm signal is sent to the driver through the OBD interface, and the on-board diagnostic OBD interface is applied to the lane departure warning, which enriches the functions of the OBD, and can effectively ensure the driving safety of the driver and reduce the occurrence of accidents.

Referring to FIG. 2 , it shows a flow chart of the steps of Embodiment 2 of an OBD-based lane departure warning method according to an embodiment of the present invention, which may specifically include the following steps:

Step 201, the vehicle-mounted terminal predicts the driving route of the vehicle within the first preset time period;

In a preferred embodiment of the embodiment of the present invention, step 201 may include the following sub-steps:

In sub-step S31, the vehicle-mounted terminal obtains the current location information of the vehicle;

Sub-step S32, obtaining the vehicle speed and steering wheel signal of the vehicle through the OBD interface;

Sub-step S33, predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

Step 202, identifying the lane line of the current driving lane;

In a preferred embodiment of the embodiment of the present invention, step 202 may include the following sub-steps:

Sub-step S41, acquiring the image signal of the current driving lane;

Sub-step S42, preprocessing the image signal;

In sub-step S43, Canny edge detection and Hough transform are performed on the preprocessed image signal to extract lane lines.

Step 203, based on the driving route and the lane line, predict whether the vehicle may deviate from the lane;

In a preferred embodiment of the embodiment of the present invention, step 203 may specifically be: determine whether the driving route intersects the lane line through the OBD interface; if so, determine that lane departure may occur; A lane departure has occurred.

In another preferred embodiment of the embodiment of the present invention, step 203 may specifically be: obtain the distance between the driving route and the lane line through the OBD interface; if the distance is less than a preset threshold, then determine Lane departure may occur; if the distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

Step 204, if the vehicle may deviate from the lane, send an alarm signal through the OBD interface;

As a preferred example of the embodiment of the present invention, the alarm signal may include at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

Step 205, if no correction operation by the driver is detected within the second preset time period when the alarm signal is issued, automatically correct the driving state of the vehicle.

Applied to the embodiment of the present invention, if the vehicle-mounted terminal does not detect the correction operation performed by the driver within the second preset time period when the alarm signal is issued, the vehicle's driving state can be automatically corrected through the OBD interface to avoid lane departure. Accidents happen.

In a preferred embodiment of the embodiment of the present invention, the vehicle-mounted terminal automatically corrects the form state of the vehicle through the OBD interface, which may at least include the following correction operations: automatically correcting the steering wheel so that the vehicle automatically returns to the correct route.

In a specific implementation, the OBD interface can correct the formal state of the vehicle in the following ways:

For example, an action command to automatically trim the steering wheel is issued to the electric power steering system of a smart car, so that the vehicle can automatically return to the correct line.

In another example, an action command to correct the route is sent to the electronic brake assist system, so that the electronic brake assist system slightly corrects the driving route, assists the vehicle to return to the lane, and ensures the safety of the vehicle.

As another example, OBD first judges the driving speed of the vehicle. If the vehicle is running at a low speed, it sends the first correction instruction to the vehicle body controller. After receiving the first correction instruction, the vehicle body controller controls the steering gear, adjusts the steering wheel, and corrects the occurrence until the car body returns to the center of the road, stop the car body controller to control the steering gear; if the vehicle is running at a medium-high speed, send a second correction command to the car body controller, and the car body controller controls the steering gear and brake pedal, Properly decelerate, adjust the steering wheel, and correct the deviation until the car body returns to the center of the road, stop the car body controller, and complete the correction of lane departure.

In the embodiment of the present invention, if the OBD predicts that the vehicle may deviate from the lane, in addition to the alarm signal early warning, it can also use active intervention to actively correct the driving state of the vehicle, so that the vehicle automatically returns to the normal line. The vehicle carries out safety assisted driving, which can effectively ensure the safety of the driver and reduce the occurrence of accidents.

As for the method embodiment in FIG. 2 , since it is basically similar to the method embodiment in FIG. 1 , the description is relatively simple. For related parts, refer to the partial description of the method embodiment in FIG. 1 .

For the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present invention is not limited by the described action order, because according to the embodiment of the present invention , certain steps may be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

Referring to FIG. 3 , it shows a structural block diagram of an embodiment of a vehicle-mounted terminal for lane departure warning based on OBD according to an embodiment of the present invention, which may specifically include the following modules:

The driving route prediction module 301 is adapted to predict the driving route of the vehicle within the first preset time period;

A lane line identification module 302, adapted to identify the lane line of the current driving lane;

A lane departure judging module 303, adapted to predict whether the vehicle may have lane departure based on the driving route and the lane line;

The alarm module 304 is adapted to send out an alarm signal through the OBD interface when the vehicle may deviate from the lane.

In a preferred embodiment of the embodiments of the present invention, the vehicle-mounted terminal may also include:

The correction module is adapted to automatically correct the driving state of the vehicle when no correction operation by the driver is detected within the second preset time period when the alarm signal is issued.

In a preferred embodiment of the embodiment of the present invention, the driving route prediction module 301 may also be adapted to:

The vehicle-mounted terminal acquires the current location information of the vehicle;

Obtain the vehicle speed and steering wheel signals of the vehicle through the OBD interface;

Predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

In a preferred embodiment of the embodiment of the present invention, the lane line identification module 302 is further adapted to:

Obtain the image signal of the current driving lane;

Preprocessing the image signal;

Carry out Canny edge detection and Hough transform on the preprocessed image signal to extract lane lines.

In a preferred embodiment of the embodiment of the present invention, the lane departure judging module 303 is further adapted to:

Judging whether the driving route intersects the lane line through the OBD interface;

If so, it is determined that lane departure may occur;

If not, it is determined that no lane departure has occurred.

In a preferred embodiment of the embodiment of the present invention, the lane departure judging module 303 is further adapted to:

Obtain the vertical distance between the driving route and the lane line through the OBD interface;

If the vertical distance is less than a preset threshold, it is determined that lane departure may occur;

If the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

In a preferred embodiment of the embodiment of the present invention, the alarm signal includes at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

In a preferred embodiment of the embodiments of the present invention, the correction module is further adapted to:

If the driver's correcting operation is not detected within the second preset period of time when the alarm signal is issued, the steering wheel is automatically corrected so that the vehicle automatically returns to the normal route.

As for the embodiment of the vehicle terminal, since it is basically similar to the embodiment of the method, the description is relatively simple, and for relevant parts, please refer to the part of the description of the embodiment of the method.

The embodiment of the present invention also discloses a smart car, including the vehicle-mounted terminal shown in FIG. 3 .

The algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other device. Various generic systems can also be used with the teachings based on this. The structure required to construct such a system is apparent from the above description. Furthermore, the present invention is not specific to any particular programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of specific languages is for disclosing the best mode of the present invention.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, in order to streamline this disclosure and to facilitate an understanding of one or more of the various inventive aspects, various features of the invention are sometimes grouped together in a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will understand that although some embodiments described herein include some features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention. and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to realize some or all functions of some or all components of the OBD-based lane departure warning device according to an embodiment of the present invention . The present invention can also be implemented as an apparatus or an apparatus program (for example, a computer program and a computer program product) for performing a part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

The present invention discloses A1, an OBD-based lane departure warning method, the method comprising:

The vehicle-mounted terminal predicts the driving route of the vehicle within the first preset time period;

Identify the lane lines of the current driving lane;

Predict whether the vehicle may deviate from a lane based on the driving route and the lane line;

If the vehicle may deviate from the lane, an alarm signal is sent through the on-board diagnostic OBD interface.

A2, the method as described in A1, also includes:

If the driver's correction operation is not detected within the second preset time period when the alarm signal is issued, the driving state of the vehicle is automatically corrected.

A3, the method as described in A1 or A2, the step of the vehicle-mounted terminal predicting the driving route of the vehicle within the first preset time period includes:

The vehicle-mounted terminal acquires the current location information of the vehicle;

Obtain the vehicle speed and steering wheel signals of the vehicle through the OBD interface;

Predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

A4. The method as described in A1 or A2, the step of identifying the lane line of the current driving lane includes:

Obtain the image signal of the current driving lane;

Preprocessing the image signal;

Carry out Canny edge detection and Hough transform on the preprocessed image signal to extract lane lines.

A5. The method as described in A1, the step of predicting whether the vehicle may deviate from the lane based on the driving route and the lane line includes:

Judging whether the driving route intersects the lane line through the OBD interface;

If so, it is determined that lane departure may occur;

If not, it is determined that no lane departure has occurred.

A6. The method as described in A1, the step of predicting whether the vehicle may deviate from the lane based on the driving route and the lane line includes:

Obtain the vertical distance between the driving route and the lane line through the OBD interface;

If the vertical distance is less than a preset threshold, it is determined that lane departure may occur;

If the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

A7. The method described in A1 or A2, wherein the alarm signal includes at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

A8. The method as described in A2, if the correction operation of the driver is not detected within the second preset time period when the alarm signal is issued, the step of automatically correcting the driving state of the vehicle includes:

If the driver's correcting operation is not detected within the second preset period of time when the alarm signal is issued, the steering wheel is automatically corrected so that the vehicle automatically returns to the normal route.

The present invention also discloses B9, a vehicle-mounted terminal for lane departure warning based on OBD, said vehicle-mounted terminal comprising:

a driving route prediction module, adapted to predict the driving route of the vehicle within the first preset time period;

A lane line recognition module, adapted to identify the lane line of the current driving lane;

A lane departure judging module, adapted to predict whether the vehicle may deviate from a lane based on the driving route and the lane line;

The alarm module is adapted to send out an alarm signal through the OBD interface of the vehicle when the vehicle may deviate from the lane.

B10. The vehicle-mounted terminal as described in B9, further comprising:

The correction module is adapted to automatically correct the driving state of the vehicle when no correction operation by the driver is detected within the second preset time period when the alarm signal is issued.

B11, the vehicle-mounted terminal as described in B9 or B10, the driving route prediction module is also suitable for:

The vehicle-mounted terminal acquires the current location information of the vehicle;

Obtain the vehicle speed and steering wheel signals of the vehicle through the OBD interface;

Predicting the driving route of the vehicle within a first preset time period based on the current position information, the vehicle speed and the steering wheel signal.

B12, the vehicle-mounted terminal as described in B9 or B10, the lane line recognition module is also suitable for:

Obtain the image signal of the current driving lane;

Preprocessing the image signal;

Carry out Canny edge detection and Hough transform on the preprocessed image signal to extract lane lines.

B13, the vehicle-mounted terminal as described in B9, the lane departure judging module is also suitable for:

Judging whether the driving route intersects the lane line through the OBD interface;

If so, it is determined that lane departure may occur;

If not, it is determined that no lane departure has occurred.

B14, the vehicle-mounted terminal as described in B9, the lane departure judging module is also suitable for:

Obtain the vertical distance between the driving route and the lane line through the OBD interface;

If the vertical distance is less than a preset threshold, it is determined that lane departure may occur;

If the vertical distance is greater than or equal to a preset threshold, it is determined that no lane departure occurs.

B15. The vehicle-mounted terminal as described in B9 or B10, wherein the alarm signal includes at least one of the following signals: steering wheel vibration, sound signal, and warning light flashing/on signal.

B16, the vehicle-mounted terminal as described in B10, the correction module is also suitable for:

If the driver's correcting operation is not detected within the second preset period of time when the alarm signal is issued, the steering wheel is automatically corrected so that the vehicle automatically returns to the normal route.

The present invention also discloses C17, a smart car, including the vehicle-mounted terminal described in any one of B9-B16.

Claims (10)

1. a kind of lane departure warning method based on OBD, methods described includes：

Car-mounted terminal predicts the traffic route of vehicle in the first preset time period；

Recognize the lane line of current driving lane；

Based on the traffic route and the lane line, predict whether the vehicle may occur deviation；

If the vehicle may occur deviation, alarm signal is sent by OBD OBD interfaces.

2. the method for claim 1, it is characterised in that also include：

If sending in the second preset time period of alarm signal, the amendment operation of driver is not detected, then automatic amendment The transport condition of the vehicle.

3. method as claimed in claim 1 or 2, it is characterised in that the car-mounted terminal predicts car in the first preset time period Traffic route the step of include：

Car-mounted terminal obtains the current positional information of vehicle；

The speed and hand-wheel signal of the vehicle are obtained by OBD interfaces；

The driving of vehicle in the first preset time period is predicted based on the current positional information, the speed and hand-wheel signal Route.

4. method as claimed in claim 1 or 2, it is characterised in that the step of the lane line of the identification current driving lane Including：

Obtain the picture signal of current driving lane；

Described image signal is pre-processed；

Canny rim detections and Hough transform are carried out to pretreated picture signal, lane line is extracted.

5. the method for claim 1, it is characterised in that described based on the traffic route and the lane line, in advance Whether survey the vehicle includes the step of deviation may occurring：

Judge whether the traffic route intersects with the lane line by OBD interfaces；

If so, then judging may deviation；

If it is not, then judging deviation.

6. the method for claim 1, it is characterised in that described based on the traffic route and the lane line, in advance Whether survey the vehicle includes the step of deviation may occurring：

Vertical range between the traffic route and the lane line is obtained by OBD interfaces；

If the vertical range is less than predetermined threshold value, judgement may occur deviation；

If the vertical range is more than or equal to predetermined threshold value, judge deviation.

7. method as claimed in claim 1 or 2, it is characterised in that the alarm signal includes at least one of following signal： Vibration of steering wheel, voice signal, warning light sudden strain of a muscle/bright signal.

8. method as claimed in claim 2, it is characterised in that if described sending the second preset time period of alarm signal It is interior, do not detect the amendment operation of driver, then include the step of the transport condition for correcting the vehicle automatically：

If sending in the second preset time period of alarm signal, the amendment operation of driver is not detected, then automatic dressing Steering wheel, makes vehicle self-aligning circuit.

9. a kind of car-mounted terminal of the lane departure warning based on OBD, the car-mounted terminal includes：

Traffic route prediction module, is suitable to predict the traffic route of vehicle in the first preset time period；

Lane detection module, is suitable to recognize the lane line of current driving lane；

Deviation judge module, is suitable to based on the traffic route and the lane line, predicts that whether the vehicle may Generation deviation；

Alarm module, is suitable to, when the vehicle may occur deviation, alarm signal be sent by OBD OBD interfaces Number.

10. a kind of intelligent automobile, including the car-mounted terminal described in claim 9.