TW200922816A - Method and device for detecting the lane deviation of vehicle - Google Patents

Abstract

The present invention provides method and device for detecting the lane deviation of vehicle. The method mainly comprises an image identification processing procedure, which comprises the following steps: an image acquisition step, using an image capturing unit to capture an image data; a vehicle lane identification step, analyzing and distinguishing the vehicle lane position of a vehicle from the image data and employing the quadratic curve fitting equation to connect a fragment of vehicle lane to make a vehicle lane prediction model. The vehicle lane prediction model through the above-mentioned steps can be used to detect the deviation of the vehicle and provided for alarm. The vehicle deviation detector comprises mainly: an image capturing unit, which is used for capturing road image information; an operation platform, which is used for analyzing road image information captured from the image capturing unit and judging the relative relationship between the present vehicle and the road; a signal output unit, which uses the light, the visual variation or sound to achieve a warning effect. Using the above-mentioned structure and the steps, when the driving state of the vehicle is not normal, it may issue a warning signal to remind the driver for achieving a warning effect.

Description

200922816 IX. Description of the invention: [Technical field of invention] The present invention relates to a method and device for detecting vehicle displacement, in detail, a method for judging a car secret using an image, and a quadratic rotation fitting equation The wire takes the amount of movement and the curvature of the lane to judge whether the driving is normal and can provide warning effects. [Prior Art] With the widespread use of car_humanization in human society, the gap between localities has been shortened and gradually become a social form of globalization-body, but the so-called-------in the past few years, the incidents of traffic accidents have emerged in an endless stream. Laijia and each A vehicle decoration seeks to apply New Technology to the vehicle, private: the safety of the vehicle, and reduce the incidence of traffic accidents; the occurrence of traffic accidents, often human factors account for the majority, fatigue and points God is often the main cause of accidents. Although relevant institutions at home and abroad are devoted to sleep detection, brain waves and other related research to remind drivers, but the effect is not satisfactory, coupled with the line reaction time and overall cost, can not be fully popular; In the past, the use of ultrasonic radar or light reflection and other physical means to achieve the body protection warning effect; such as the Republic of China Patent Application No. 09221746 0 "can avoid the driver's departure from the lane warning device", mainly in A vehicle warning is installed on each side of the vehicle; the vehicle warning device is provided with a voltage power supply, and a A light quantity sensor, a signal amplifier, a voltage comparison amplifier and a warning display are combined; wherein the light quantity sensor senses the amount of light reflected by the road dividing line, and the amount of light reflected by the road dividing line is greater than the road is not separated The line portion causes the light quantity sensor to generate a current value that is not the same as 200922816 by the difference in the amount of reflected light. The current value is modulated by the signal amplifier, and the current value is converted into a suitable voltage difference, and then the voltage comparison amplifier performs The voltage is relatively amplified, and a voltage output signal is obtained, and the voltage output signal is sent to the warning display ^, and the warning device is used to remind the driver to remind the driver that the vehicle being driven has deviated from the driving lane. In recent years, due to the flexibility of software writing, the convenience of c cD and CM0 s photography frames, the diversification of data collected, and the low cost, the new technology development direction is provided, so it is matched with CCD and CMO S. The high-efficiency image processing technology is developing, in addition to the reversing image, the image processing secret can hide other widely Anti-drop assistance, such as detecting vehicle road information, estimating the current driving lane of the vehicle, etc.; such as the "Way Offset Warning Device and Method" of the Republic of China Patent Application No. 0 9 213 4 0 5 The invention includes a one-way video information capturing unit, a lane offset side unit, and a __alarm unit; and the method for determining the lane offset includes image input, image analysis processing, search setting, lane offset insult, and The step of shifting the warning lane from the level or off, the automatic fine vehicle improperly shifts the lane situation' and gives the driver a warning to turn the traffic safely, and further includes an automatic judgment mechanism to determine the temporary _ warning device to avoid frequent error action. Increasing the trouble of driving people; however, this kind of technology is based on road markings and driving routes to confirm whether the vehicle is offset by positive f-orbit; but this method of comparison is not nothing--missing, there is still comparison The difference between the two causes the wrong judgment. In addition, the actual road markings and the driving route have not been estimated and calculated by the trajectory, which is expected to produce a real f deviation, and send a wrong ride, which is too late. The warning is not conducive to the actual use; therefore, in view of the problems existing in the above-mentioned conventional technologies, how to develop a more ideal and realistic structure of 200922816, the use of consumers is eagerly awaited, and the relevant industry must Efforts to develop breakthrough goals and directions. In view of this, the inventors have been engaged in the manufacturing development and design experience of related products for many years, and have made a practical and practical creation after the detailed design and careful evaluation of the above-mentioned objectives. The purpose record is purely for the detection method of the offset-based offset, which can improve the conventional technique and is limited to the system _ short, causing the reaction _ deficiency, and even due to the poor comparison method, the misjudgment and the sending of the error signal are not conducive to Actual use is missing. In order to achieve the foregoing object, the device of the present invention includes an imaging unit 'operation platform, a signal output unit, and the method includes an image recognition processing program and a deviation estimation processing program, wherein: the image recognition processing conversion system includes the following steps. . Shadow taking step: the camera unit takes the road image in front of the vehicle; the lane line identification step: the image picture data = the upper half and the lower half, like the upper half of the side data for day and night judgment The lower half of the image data is further divided into upper and lower parts. The image data is shifted from the nearer part of the vehicle to a lower resolution, and the farther part of the vehicle maintains the original resolution. Identification process, including three lane line identification methods: high gray level value identification, lane line edge characteristic identification, lane line width identification, must meet the above three detailed methods, can be judged as the correct lane line; The half system is divided into several equal divisions and the following processes are carried out from bottom to top: starting point search process: searching for the starting point of the lane lines on both sides as the starting point; 200922816 side lane line flow: in the current interval Use the above identification process to determine the lane line, and use the quadratic fitting curve equation to predict the lane line trend, and connect the lane lines of all the segments to make two Curve; financial corrections: _ R 0 1 side correction lane _ difficult to actually static. So heavy money on the money process, with ____, money car Wei prediction model constantly correct the fit of the actual lane line trajectory; The position of the vanishing point is determined by several images and the position of the vanishing point is Hejin or _, and the accuracy of the shape is added. Furthermore, according to the ratio of the lane width of the lane line on both sides of the material to the width of the actual lane line, The width of the image on the image frame; the deviation estimation process includes the top step 1 calculation process. · The lane miscellaneous equation uses the quadratic curve fitting equation to estimate the actual driving path detour, the travel route slope, and the lane curvature' Xianglu T car road recording and line secrets ώ vehicle lateral displacement; Judging early warning: material horizontal (10) scale line is difficult to carry out, if the scale is close to the lane line, then signal warning; The step of judging can perform brightness analysis on the upper part of the secret picture dragon to distinguish the day and system, and can switch the price measurement mode to improve the recognition rate. The lower part of the image picture data is two parts, called the same resolution. On the line side, the processing speed can be increased without losing the drunkness of the debt measurement identification; and the lane step _ can be used to fit the equation by the second scale, find the lane line and the vanishing point, and calculate the lateral displacement of the vehicle and the road. Curvature, even if the lane line is blocked by other vehicles, the conventional line fitting method can be used for identification and inference; the present invention also performs multi-channel backward estimation through R〇I and vanishing point position detection to avoid misjudgment and no A stable situation occurs; and the case can also identify the updated road width without the need to obtain the vehicle or the photography 200922816 machine and the road surface. This system can compare the lane line with the actual driving path, when the driving path approaches the lane line. The driver did not react, such as braking, direction lights, etc., the signal output unit sent the police driver; otherwise, if the driver responded, the follow-up analysis continued. A curve fitting equation is used to obtain the curvature of the lane. When the speed of the vehicle is too high and the curvature of the lane is too large, the money is also sent to Lingxun, and the driver slows down the speed, or further Controlling the speed of the car or braking; therefore, the invention can be said to be - when it is a complex and progressive creation, it is worthy of promotion by the industry and publicized to the public. [Embodiment] The present invention relates to a "vehicle shift detection method wire arrangement", and the vehicle surface movement detection method mainly includes an image recognition processing program and a deviation estimation processing program, please refer to the first figure. Show, among them: The image discriminant system and the quadratic curve hybrid equation construct the lane line model, so as to facilitate the use of various types of _, if the actual lane is shaded by its scale, it can still be familiar with the straight line fitting method. The lane line is obtained from the silk fitting of the square wire. The bribe description method includes the following steps: capturing the image of the road ahead of the vehicle. Steps: using the camera unit to mount the vehicle, the surface Data; lane line identification step: the image data captured by the camera unit is divided into upper, first and lower halves, wherein: the dry interval is as shown in the first to fourth figures, and the image is above the data The half system is divided into - 200922816 for day and night judgment, and use the following formula to determine whether it is day or night, in order to switch the road line detection mode: ΣΣ^<^ ΣΣ^<&- ~-~<Th ^ =&gt ; Night ——>1bW=>Day xy gary : Grayscale brightness value of each image pixel (Pixei), threshold: Threshold of dark brightness value (threshlod), Thnight: Threshold of determining brightness value at night , determining the threshold value of the brightness value during the day; when the gray level brightness value is less than Thnight, it is determined to belong to the night, and vice versa, it is determined to belong to the day; when the gray scale shell value is greater than the kiss, the brightness value corresponding to the daytime is determined; On the other hand, if the grayscale brightness value is less than Thnight, it is determined as the nighttime brightness value; the lower half of the image frame data is further divided into upper and lower parts, and the image picture data is closer to the near part of the vehicle (ie, lower) Miscellaneous), the portion of the vehicle that is farther away (ie, the upper portion) maintains the original resolution; the lane recognition step of the present invention uses an identification process to detect whether the lane line is correct, and the identification process is at least Including three lane line identification methods: The gray scale value identification: the lane line has a larger gray scale value than the road surface, distinguishing the difference between the lane line and the road surface; lane line edge characteristic identification: using the lane line and the road surface The edge characteristics of the intersection edge are calculated, and the possible lane line range is calculated. The lane line width identification: the lane width of the two sides is multiplied by the ratio of the visibility of the image frame data lane line to the actual lane line width, and the lane line is obtained. The width is secreted by the width of the image surface data 200922816, so as to know the judgment interval of the lane line width; thereby the image of the image taken by the camera unit must meet the above formula at the same time to get the right soft car Wei; As shown in the fifth figure, the lane recognition step divides the lower part of the image frame data from bottom to top into a number of equal partitions, and performs detection and correction judgment from bottom to top, as shown in the sixth figure: Point search process: search for the starting point of the lane line on both sides from the bottom section as the starting point 'If you can't find the 'continuation down' section, continue to search until the starting point is found; Detect lane line flow: in the current area Identify the flow to break the lane line, and use the second-fit scale equation to make the lane line trend miscellaneous, and connect the lane lines of all the segments to make a quadratic curve. The formula of the program is for the household, / separate | 1 (four) of the vertical axis of the TM and the horizontal axis are 25 (four) and complete the initial evaluation of the lane line, continue the orbit correction step, the initial value of the upper coefficient will be different due to the application Making adjustments; Track correction process: Referring to the sixth figure, the single-interval is divided into several columns (r〇w), and R〇 is performed column by column! (Gn Qf inte gift, money machinery circumference _ fine, correction The actual path of the lane line is ambiguous until the actual road axis lane line trend is consistent, and the decision is made in conjunction with the vehicle navigation. If the vehicle recording condition is normal, the detection process of the next section is continued. The formula is as follows.

= [«,_! - λη · Mark j, μ ROId - [u^-λα Mark^u + λη -A/arky] + λά - Markj ] The abscissa of the previous train line; 4: The previous column has no detect Measured the parameters of the lane line; 11 200922816 “刖歹J has the parameters of the lane line: the width of the lane line on the image plane of the column currently being processed by Yang. This repeats the line of the above-mentioned miscellaneous’ And the lane line model is continuously corrected to conform to the Wei lane line trajectory; the lane line of the lane line prediction model obtained by the vehicle forcing identification step is formed at the far-end intersection to form a vanishing point, and a plurality of successive image frames are used to disappear. Whether the position is adjacent or the same, if the position of the missing point is very large, it means misjudgment or instability, thereby increasing the judgment criterion. Also, as shown in the seventh figure, when the lane line is actually searched, the lane line is dotted. Or mark the month without the moon; ί〗 Use ## search for the lack of points, can not correctly fit the lane line; therefore use (6) like the 4-sided data and the actual situation of the lane line width _, convert the two lane lines Lane width multiplier like lane line width and The ratio of the actual lane line width is obtained, and the visibility of the lane width image on the 5V image is obtained. As the basis of the image complement point, when there is no search right point on the left side, the left point is added to the image lane width. Its position is the position of the right lane line to be complemented by 'by knowing the determination of the lane line width to update the quadratic lane line model:

Mark—Mark_,

Road imagp

Road =>Road real

Road real

Mariw Mark

RoacU: The lane width of the standard road lines on both sides, the standard is about 3 7 cm, (4) (6): the real road line t 'fresh is 15 cm, RQadiliage · · image data on the road line width, Marki «age: Image line data road line width. As shown in the eighth figure, when the lane line model is completed, the obtained lane line model input is deviated from the estimation processing program, and the lane offset state is estimated by using the quadratic curve fitting equation, and the deviation estimation processing program includes The following steps: 12 200922816 Operation processing steps: The lane-dependent and quadratic curve fitting equations are used to estimate the current vehicle lateral displacement, lane slope and lane curvature; the formula of the quadratic curve fitting equation is (4)·^ respectively For the actual plane, it is difficult to find out, 丨21, (4) is the parameter obtained from the above lane _ type. The lane slope can be obtained by the lane line, and the formula of the lane slope is:

eL-2-k'X^m I As shown in the ninth figure, the vehicle lateral displacement △' can be further calculated by using the above-mentioned vehicle slanting sheep. The formula is: △ = } Ζχ ε, λ. Miscellaneous entanglement, Λ: Vehicle offset at the reference point, Ζ: duty distance, · · travel route slope. 2-k and 'according to the two (four) line fitting square track, the village road calculated to obtain the curvature of the lane, the formula of the curvature of the lane is {^(2-kx + mf)n ', therefore, as the tenth Figure dry-(-+yL-Lx£L) into ~ can further calculate the distance from the vehicle to the lane edge

Ay:

Ay = (|_eight +/^) • Lane width (converted from the image lane width of a certain column in the image plane through coordinates), 6K: vehicle width, a: route slope; 'to its lane in the image plane The width of the lane is determined by the lane line cracking/test point offset, Z: the preview distance, ~· travel if the vehicle is traveling in straight, _ riding, material, as follows: V, /, medium \ · lane wide sound , A · by * ί 1 degree ~ · vehicle width, h · · reference point car Han offset. 13 200922816 According to the quadratic curve fitting equation, the lateral displacement, lane slope and lane curvature of the vehicle can be entered into the judgment and warning step. Judgment and warning steps: the divergence of the vehicle and the miscellaneous type are carried out, 2 0 0 7 1 s 0 (International Standard) 17 3 6 _, the passenger car is outside the lane line. The ruler is defined as the last police. Trucks and buses are in the lane! The meter is defined as the last warning line, while the lane line (4) is outside the front and the front, and refers to the eighth Chengdi touch, the clock route is deviated, and when it is close to the early "cancellation or lane line, it is warning from the New (4);

14 200922816 Efficacy. The system of the present invention further includes a vehicle offset detecting device of the above method, which mainly includes an - camera unit, a computing platform, and a signal wheeling unit, wherein: when the vehicle starts and the vehicle speed reaches a fixed value, The vehicle offset detecting device of the present invention activates the cc D or CM 〇 camera device installed in the vehicle, and is used to capture the vehicle 杂 彡 资讯 资讯Wei Wei Chuan light computing platform; the operation of the self-contained material Yuan Naozhi Guan Wei Wei, and the vehicle speed, direction lights and brakes after the production of Nen Cong (four) (10) butterfly _ two under-curve fitting forest type to identify the real road line The trajectory, whether the road line trajectory is correct by means of the position of the vanishing point, etc., and the quadratic curve fitting equation is used to determine the trajectory of the driving path, and the relationship between the current vehicle surface and the road is determined, and if the driving path is an age-old vehicle, or When the speed of the car is too large, the curvature of the curve is too large, and the surface of the system is fine, and the amount of the brake device is set to the calculation platform. The computing platform sends a signal to the signal output unit. Otherwise, if the preset warning range is reached, Direction light or 煞The device secretly records and records to the computing platform, and then commands the camera unit to retrieve the image image data again and re-determines; the signal transmission element county can provide a unified, silk image, or sound device, when the computing platform sends a letter to the red The transfer of the yuan's bribes to reduce the sound of the sound reaches the effect of warning the driver's warning; the change or the above structure, when the vehicle breaks, the vehicle is not in the lane line, or the speed is over. #道曲When the surface A ' * is prone to accidents, the vehicle displacement detecting device of the present invention issues a warning to the driver to pay attention to the effect of the warning. 15 200922816 The above description is only for explaining the preferred embodiment of the present invention, and is not intended to be in any form to the invention, so that all related inventions are made under the same exposure. Any modifications or alterations made by others that have been implemented and have the same effect are still included in the scope of the invention. In summary, (4) 'The detection of vehicle offset (4) silk set in the invention, in the structural design and make it 2, in line with the real secret, that is, the money, the money has never been more effective ^ has a "new" should Undoubtedly, the invention can be compared with the conventional structure patent application: it is also "progressive", and it is in line with the invention of the patent law of China, and it is given to the company as soon as possible. Application, _ dog office can patent the patent, to the sense of virtue. 16 200922816 [Simplified description of the drawings] The first figure is a schematic flow chart of the vehicle offset detection method of the present invention. The second to fourth figures are schematic diagrams of the day and night judgment identification of the present invention. The fifth figure is a schematic diagram of the lane division section and the column state of the present invention. The sixth figure is a schematic flow chart of the lane marking step of the present invention. The seventh figure is a schematic diagram of the width of the lane line obtained by the coordinate conversion of the present invention. The eighth figure is a schematic diagram of the actual vehicle state of the deviation estimation processing program of the present invention. The ninth figure is a schematic diagram of the distance calculation of the vehicle from the lane side line of the present invention. The tenth figure is a schematic diagram of the calculation of the lateral displacement amount when the vehicle of the present invention is parallel to the lane line. [Main component symbol description] None 17

Claims (1)

200922816 X. Patent application scope: 1. A method for detecting vehicle offset, the main method is: image recognition processing program includes the following steps: image capturing step: using camera unit to capture image frame data; lane line identification Step: Analyze the image data, identify the processing program, and divide the position of the lane line, and use the quadratic curve to fit the equation to connect the lane lines of the segment to provide Lai (4) paste detection, 2 · The identification of the vehicle's offset detection line as described in the patent of the patent, the image of the image is _, the image of the vehicle is converted to a lower resolution, and the farther part is maintained. Resolution /, more near-end 3 · The detection method of the car surface movement described in the 2 items of the ejaculation, in which the coughing vehicle = identification step secret - Lai Yu, __ (four) at least the identification of high gray scale values in the New County line · Use the lane line compared to the road lane line and the road surface; make the lane, _ test model; and have a larger gray scale value to distinguish the lane line edge characteristics identification: use the edge characteristics of the lane line and the road junction edge, Calculate The range of the lane line of the energy; = the number of the line width of the line of the county line and the width of the line line, and the width of the image of the lane width imaged on the image frame, The determination range of the line width; 200922816 The lane line of the image data obtained by the image capture step must be the same as the above two identification methods before it can be determined as the correct lane line. 4: The method for detecting vehicle offset according to item 2 of the patent application scope, wherein the lane line identification step divides the lower half of the image frame data from bottom to top into a plurality of equal partitions, and The following process is performed: Start point search process: search for the starting point of the lane lines on both sides from the bottom section, if you can't find 'then, continue to search for the next section; Detect lane line process: identify in the current interval Take out the lane line, and use the quadratic fitting curve equation to predict the lane line trend and perform the orbit correction step; Orbit correction process: perform R〇I (Region Qf interest, interest range or system range) _ 杂 杂 杂 杂 杂 杂 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Achieve accurate and effective effects. 5. The method for detecting a vehicle offset according to item 4 of the patent application scope, wherein the formula of the two-person curve fitting equation is a household/ten lecture 丨^+ condition, χ and 少 respectively are actual planes The vertical axis and the horizontal axis of the space, the parameters of the magic, wi, and μ are respectively; - L n / . x 650 650 (/ wl: -tan(5.7)~tan(5.7), Μ: -2·5~ 2·5 (w) 6. According to the method for detecting vehicle offset according to item 4 of the patent application scope, the single-interval is divided into a plurality of columns (ROW), and R〇I detection is performed, R〇 The formula of j is: Na η = [~-νΆ—]+λη 4 _ V Pei / ] 200922816 ^ . The cross-height of the train line Λ η: the parameters of the lane line are not detected in the previous column. There is a parameter Mark that detects the lane line: the current image plane width. 7 · According to the detection method of the vehicle offset described in the first application of the patent scope, wherein the lane line identifies the step, the township image is above the dragon Separation of the gods is pre-existing, and use the following formula to touch the daytime planting night, so as to help the secret road job test mode: ΣΣ^<&ωι 2]^ gray <th —<1;^_= >你: ΣΣ: ΣΣ: >IhD => Day gary : grayscale brightness value of each image pixel (Pixel), threshold: threshold of dark brightness value (threshlod), Thnight: determine the brightness value of the night The threshold value is fine: the threshold value for determining the brightness value during the day, when the gray scale shell value is less than 7^ gamma, it is determined to belong to the night, and vice versa, it is determined to belong to the daytime. 8. According to the claim 1 The method for detecting a vehicle offset, wherein the image frame data obtained by the image capturing step uses a ratio of the image frame data to the actual lane line width, and a ratio of the image data lane line width to the actual lane line width. Knowing the width of the lane is imaged on the width of the image data screen, thereby knowing the determination interval of the lane width and the model for updating the quadratic lane line: Mai'kreal R〇adreal => Road imagi Road Mark leal · image Roadreal : Lane width of standard road lines on both sides, standard is about 3 7 cm, Mark (10): true road line width, standard is 15 cm, R〇adinage: image roads on both sides of the road Width of the road, Markimage: image line width of the image data a 9 . According to the detection method of the vehicle offset described in Item 1 of the application patent, the lane line prediction obtained by the vehicle 20 200922816 line identification step The lane lines on both sides of the model form a vanishing point at the far-end intersection, and use several consecutive image frames to determine whether the vanishing points are adjacent or identical. If the position of the vanishing points is very different, it means misjudgment or instability. 1 〇. A method for detecting vehicle deviation, which mainly utilizes the obtained lane line model, and processes the lane line view input-wire estimation processing program, and the wire estimation process includes the following steps: Operation processing steps: The lane line model _ quadratic curve fitting equation is used to estimate the current vehicle lateral displacement, lane slope and lane curvature. Judging the warning surface: the vehicle displacement and the lane line view are carried out, and the vehicle is known. If the distance from the lane line is too close to the lane line, a signal warning is issued; by the above steps, it can be confirmed whether the lane of the lane is located in the lane line on both sides, and when the lane is to deviate from the lane line, the signal is sent. _ The effect of the advance warning. 1 1 · According to the scope of the patent application! In the method of detecting the auxiliary offset of the vehicle, the formula of the fitting equation is 切2·_, which is the vertical plane of the actual plane _ 'm, (four), the number of forests _ More smooth lanes rely on the type. , 12 · Root age, please refer to the method of detecting the vehicle offset described in item 1 of the patent scope, according to the ~ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Please refer to the scope of patents i. The second transfer to the county side _ s. turn f ^ & vehicle slant detection method, according to the rate of the right, cut ~ face 仃 fine track, financial calculations to obtain the lane song 21 200922816 4 according to the application Patent Document No. 1) The method for detecting the vehicle offset described in the above-mentioned operation processing step 'the early lateral displacement amount, the formula is as follows: =' Δ: the gambling to the displacement 4 distance, the traveling route Slope. The vehicle offset of the Mai Khaozhi point depends on the (4) (four) method, where Αν τ~(τ+^'^^) 'where ~: lane width, ~: vehicle width, less £: reference point offset Quantity, 1: pre-view distance,: travel route slope. The wheel offset detection device mainly includes an image capturing unit, a computing platform, and a signal wheeling unit, wherein: the camera is used for early detection. Take road image information and convey the road image information of the road to the computing platform; The road image information taken by the camera unit is analyzed, and the relative relationship between the target 'and the road' is determined. If the preset warning range is reached, the computing platform sends a signal to the signal output unit; the L number output single 7L county can Provide light source, or image, or audio device, when the operation is flat. Send 彳5 to the trust unit. The money output unit is used to paste light, visual change, or sound to achieve the warning effect; If it is not normal, the system may issue a warning to the driver to pay attention to the effect of the warning. 22 200922816 17 · The detection device for vehicle offset according to claim 16 of the patent application, wherein the camera unit is C CD Or CMO S camera. 23