CN114834473A - Lane departure warning method, control device and system - Google Patents

Abstract

A lane departure warning method, control device and system. A lane departure warning method includes: acquiring wheel speed information and lane line information; and executing a lane departure warning function according to the wheel speed information and the lane line information. This scheme can infer the current road surface smoothness according to the wheel speed information, and then reasonably determine the lane departure warning intensity threshold according to different road conditions, thereby improving the recognizability of the lane departure warning function and improving the safety and performance of the LDW function. Use experience.

Description

Lane departure warning method, control device and system

technical field

This article relates to, but is not limited to, intelligent driving technology, especially a lane departure warning method, control device and system.

Background technique

Among the functions of driving assistance (ADAS, Advanced Driving Assistance System, advanced driving assistance system), including LDW (Lane Departure Warning, Lane Departure Warning) function that issues an alarm to prevent the vehicle from leaving the lane, such as controlling the steering wheel to vibrate to remind. The current LDW function is controlled with the same vibration amplitude regardless of road conditions. Therefore, when the road condition is poor, the LDW alarm intensity will be difficult to be felt by the driver due to the influence of the road surface, thus affecting the user's safety and user experience.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a lane departure warning method, control device and system, which can comprehensively combine lane line information and wheel speed information to perform a lane departure warning function, thereby improving the safety and use experience of the LDW function.

An embodiment of the present application provides a lane departure warning method, including: acquiring wheel speed information and lane line information; and executing a lane departure warning function according to the wheel speed information and the lane line information.

The lane departure warning method provided by the embodiments of the present application can comprehensively combine the wheel speed information and the lane line information to implement the lane departure warning function (ie the LDW function), and issue an alarm in time when the vehicle is about to deviate from the lane to prevent the vehicle from deviating from the lane. Therefore, the lane line information and the wheel speed information can be used together as the control basis for the lane departure warning function. Since the wheel speed information can reflect the vibration of the wheels, and then indirectly reflect the smoothness of the current road surface, the smoothness of the current road can be estimated according to the wheel speed information in the process of executing the lane departure alarm function, and then can be based on the current road. Adjust the alarm intensity of the lane departure alarm function by adjusting the smoothness of the lane departure alarm function, so as to avoid the difficulty for users to feel the alarm due to the influence of road conditions when the road conditions are not good. In this way, the execution of the lane departure warning function comprehensively considers the lane line information and the road surface smoothness, thereby helping to improve the safety and use experience of the lane departure warning function.

Moreover, compared to using the acceleration sensor to estimate the smoothness of the road surface, the embodiment of the present application estimates the smoothness of the current road surface by using wheel speed information, that is, by using the signal of the wheel speed sensor to estimate the smoothness of the road surface. Since the acceleration sensor is mounted on the body and is relatively far from the ground, it will detect body vibration other than the steering wheel vibration, which is subject to more interference. The wheel speed sensor, as the sensor closest to the ground, has a greater advantage than other sensors when it is used to monitor the road surface state, and is less disturbed by other factors, so it has a high accuracy for estimating the road surface smoothness.

In an exemplary embodiment, the performing a lane departure warning function according to the wheel speed information and the lane line information includes: determining a lane departure warning intensity according to the wheel speed information; The lane departure warning function is executed according to the line information and the lane departure warning intensity.

In an exemplary embodiment, the determining the lane departure warning intensity according to the wheel speed information includes: determining the vibration level of the wheel according to the wheel speed information; determining the road surface smoothness level according to the wheel vibration level ; Determine the lane departure warning intensity according to the road surface smoothness level.

In an exemplary embodiment, the determining the road surface smoothness level according to the vibration degree of the wheels includes: determining a road surface smoothness level reference value according to the vibration degree of the wheels; determining a road surface smoothness level reference value according to the road surface smoothness level reference value The road surface smoothness grade.

In an exemplary embodiment, the determining the road surface smoothness grade according to the road surface smoothness grade reference value includes: judging whether the road surface smoothness grade reference value has continued for a set period of time; If the reference value of the road surface smoothness grade has continued for a set period of time, the reference value of the road surface smoothness grade is determined as the new road surface smoothness grade; based on the fact that the reference value of the road surface smoothness grade has not continued for the set period of time, the last determined period is continued. The said road surface smoothness grade.

In an exemplary embodiment, the determining the lane departure warning intensity according to the road surface smoothness level includes: determining lane departure warning intensity adjustment information according to the road surface smoothness level; adjusting the lane departure warning intensity according to the lane departure warning intensity information determines the lane departure warning intensity.

In an exemplary embodiment, the lane departure warning intensity adjustment information is: an updated value of the lane departure warning intensity; and the determining the lane departure warning intensity according to the lane departure warning intensity adjustment information includes: : determine the updated value of the lane departure alarm intensity as the lane departure alarm intensity; or, the lane departure alarm intensity adjustment information is: the lane departure alarm intensity coefficient; the information according to the lane departure alarm intensity adjustment Determining the lane departure warning intensity includes: determining a product of a lane departure warning intensity reference value and the lane departure warning intensity coefficient as the lane departure warning intensity.

In an exemplary embodiment, the determining the lane departure warning intensity adjustment information according to the road surface smoothness level includes: according to a mapping relationship between the road surface smoothness level and the lane departure warning intensity adjustment information, The lane departure warning intensity adjustment information corresponding to the road surface smoothness level is displayed.

In an exemplary embodiment, the road surface smoothness level is negatively correlated with road surface smoothness, the vibration level of the wheels is negatively correlated with road surface smoothness, and the lane departure warning intensity is positively correlated with the road surface smoothness level Correlation, the lane departure warning intensity adjustment information is positively correlated with the lane departure warning intensity.

In an exemplary embodiment, the grades of road surface smoothness include: grade 1, grade 2, and grade 3, the road surface smoothness of the grade 1 is better than the road surface smoothness of the grade 2, and the grade 2 The road surface smoothness is better than the three-level road surface smoothness; the lane departure warning intensity adjustment information includes: first adjustment information, second adjustment information and third adjustment information, the first adjustment information < the first adjustment information The second adjustment information < the third adjustment information; in the mapping relationship between the road surface smoothness level and the lane departure warning intensity adjustment information: when the road surface smoothness level is the first level, the lane departure warning intensity adjustment information is equal to the first adjustment information; when the road surface smoothness level is level two, the lane departure warning intensity adjustment information is equal to the second adjustment information; when the road surface smoothness level is level three, the The lane departure warning intensity adjustment information is equal to the third adjustment information.

In an exemplary embodiment, the determining the degree of vibration of the wheel according to the wheel speed information includes: filtering the wheel speed information; determining the vibration of the wheel according to the result of the filtering process degree.

In an exemplary embodiment, the wheel speed information is an average value of wheel speed information of multiple wheels of the vehicle.

An embodiment of the present application further provides a lane departure warning control device, including a processor and a memory storing a computer program, the processor implements the lane departure warning according to any one of the foregoing embodiments when the processor executes the computer program steps of the method.

The embodiment of the present application also provides a lane departure warning system, which is characterized by comprising: a driving environment condition detection device, configured to detect the driving environment condition; a wheel speed detection device, configured to detect the wheel speed; and a lane departure alarm A control device configured to acquire lane line information and wheel speed information according to the detection results of the driving environment condition detection device and the wheel speed detection device, and to execute the lane line information according to the lane line information and the wheel speed information Deviation alarm function.

In an exemplary embodiment, the lane departure alarm control device includes: a road surface smoothness level determination module configured to determine the road surface smoothness level according to the wheel speed information; a lane departure alarm control module configured to determine the road surface smoothness level according to the wheel speed information; The road surface smoothness level determines a lane departure warning intensity, and a lane departure warning function is performed according to the lane line information and the lane departure warning intensity.

Other features and advantages of the present application will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present application. Other advantages of the present application may be realized and attained by the approaches described in the specification and drawings.

Description of drawings

The accompanying drawings are used to provide an understanding of the technical solutions of the present application, and constitute a part of the specification. They are used to explain the technical solutions of the present application together with the embodiments of the present application, and do not constitute a limitation on the technical solutions of the present application.

1 is a schematic flowchart of a method for detecting a driver's hands-off detection provided by an embodiment of the present application;

Figure 2 is a schematic diagram of the comparison between the driver's hand torque signal and the LDW alarm torque when driving on a good road;

Figure 3 is a schematic diagram of the comparison between the driver's hand torque signal and the LDW alarm torque when driving on a bad road;

Figure 4 is a schematic diagram of the comparison between the filtered wheel speed signal and the road surface smoothness level;

Figure 5 is a schematic diagram of the relationship between the degree of vibration of the wheel and the level of road surface smoothness;

6 is a schematic structural diagram of a lane departure warning control device provided by an embodiment of the present application;

7 is a schematic diagram of a vehicle provided by an embodiment of the present application;

8 is a schematic diagram of a vehicle provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of the principle of a lane departure warning system provided by an embodiment of the present application.

101 turn signal switch, 102 accelerator pedal sensor, 103 brake pedal sensor, 104 angle sensor, 105 hand torque sensor, 106 vehicle speed sensor, 107 radar sensor, 108 camera sensor, 109 yaw rate sensor, 110 longitudinal acceleration sensor, 111 Lateral acceleration sensor, 112 right front wheel speed sensor, 113 left front wheel speed sensor, 114 right rear wheel speed sensor, 115 left rear wheel speed sensor;

1071 first radar sensor, 1072 second radar sensor, 1073 third radar sensor, 1074 fourth radar sensor, 1075 fifth radar sensor, 1076 sixth radar sensor, 1081 first camera sensor, 1082 second camera sensor, 1083 first triple camera sensor;

200 Driving Assistance Control Device, 201 Lane Departure Alarm Control Device, 2011 Lane Departure Alarm Control Module, 2021 Low-Pass Filter Processing Module, 2022 High-Pass Filter Processing Module, 2023 Calculation Module, 2024 Road Surface Smoothness Level Determination Module, 205 Processor, 206 memory;

301 Engine ECU, 311 Engine, 302 Brake ECU, 312 Brake System, 303 Steering ECU, 313 Steering System, 304 Information Display ECU, 314 Information Display Device;

400 driving environment condition detection device.

Detailed ways

This application describes a number of embodiments, but the description is exemplary rather than restrictive, and it will be apparent to those of ordinary skill in the art that within the scope of the embodiments described in this application can be There are many more examples and implementations. Although many possible combinations of features are shown in the drawings and discussed in the detailed description, many other combinations of the disclosed features are possible. Unless expressly limited, any feature or element of any embodiment may be used in combination with, or may be substituted for, any other feature or element of any other embodiment.

This application includes and contemplates combinations with features and elements known to those of ordinary skill in the art. The embodiments, features and elements that have been disclosed in this application can also be combined with any conventional features or elements to form unique inventive solutions as defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other inventive arrangements to form another unique inventive arrangement defined by the claims. Accordingly, it should be understood that any of the features shown and/or discussed in this application may be implemented alone or in any suitable combination. Accordingly, the embodiments are not to be limited except in accordance with the appended claims and their equivalents. Furthermore, various modifications and changes may be made within the scope of the appended claims.

Furthermore, in describing representative embodiments, the specification may have presented methods and/or processes as a particular sequence of steps. However, to the extent that the method or process does not depend on the specific order of steps described herein, the method or process should not be limited to the specific order of steps described. Other sequences of steps are possible, as will be understood by those of ordinary skill in the art. Therefore, the specific order of steps set forth in the specification should not be construed as limitations on the claims. Furthermore, the claims directed to the method and/or process should not be limited to performing their steps in the order written, as those skilled in the art will readily appreciate that these orders may be varied and still remain within the spirit and scope of the embodiments of the present application Inside.

The current LDW function is controlled with the same vibration amplitude regardless of road conditions. If the intensity of the LDW vibration alarm is increased on a flat road, the vibration alarm may make the driver feel sudden or even misunderstood as a malfunction. And the camera recognition is not 100%, when the lane line is misidentified, it will bring a very bad experience to the driver, and the driver will even turn off the LDW function, so that safety functions such as LDW cannot work. When the road condition is poor, the LDW alarm intensity will be difficult to be felt by the driver due to the influence of the road surface, thus affecting the user's safety and user experience.

The lane departure warning method provided by the embodiment of the present application can infer the road surface condition based on the wheel speed information, and then adjust the warning intensity of the LDW based on the road surface condition, which can reduce the misunderstanding or unpleasantness caused by the LDW function to the driver, and is beneficial to improve the LDW function security and user experience.

The following detailed description is given in conjunction with the accompanying drawings.

As shown in FIG. 1 , an embodiment of the present application provides a lane departure warning method, including:

Step S10: acquiring wheel speed information and lane line information;

Step S20: Execute the lane departure warning function according to the wheel speed information and the lane line information.

The lane departure warning method provided by the embodiments of the present application can comprehensively combine the wheel speed information and the lane line information to implement the lane departure warning function (ie the LDW function), and issue an alarm in time when the vehicle is about to deviate from the lane to prevent the vehicle from deviating from the lane. Therefore, the lane line information and the wheel speed information can be used together as the control basis for the lane departure warning function. Since the wheel speed information can reflect the vibration of the wheels, and then indirectly reflect the smoothness of the current road surface, the smoothness of the current road can be estimated according to the wheel speed information in the process of executing the lane departure alarm function, and then can be based on the current road. Adjust the alarm intensity of the lane departure alarm function by adjusting the smoothness of the lane departure alarm function, so as to avoid the difficulty for users to feel the alarm due to the influence of road conditions when the road conditions are not good. In this way, the execution of the lane departure warning function comprehensively considers the lane line information and the road surface smoothness, thereby helping to improve the safety and use experience of the lane departure warning function.

Moreover, compared to using the acceleration sensor to estimate the smoothness of the road surface, the embodiment of the present application estimates the smoothness of the current road surface by using wheel speed information, that is, by using the signal of the wheel speed sensor to estimate the smoothness of the road surface. Since the acceleration sensor is mounted on the body and is relatively far from the ground, it will detect body vibration other than the steering wheel vibration, which is subject to more interference. The wheel speed sensor, as the sensor closest to the ground, has a greater advantage than other sensors when it is used to monitor the road surface state, and is less disturbed by other factors, so it has a high accuracy for estimating the road surface smoothness.

In the embodiment of the present application, the lane departure alarm intensity can be characterized by the vibration amplitude, vibration frequency, alarm sound level, alarm sound frequency, alarm light brightness, and alarm light frequency of the steering wheel.

In an exemplary embodiment, the lane departure warning function is performed according to the wheel speed information and the lane line information, including:

Determine the lane departure warning intensity according to the wheel speed information;

Execute the lane departure warning function according to the lane line information and the intensity of the lane departure warning.

After research, it is found that the difference between the hand torque caused by road vibration and the LDW vibration alarm torque is significantly different when driving on different road conditions. Figure 2 is a schematic diagram of the comparison between the hand torque caused by road vibration and the LDW vibration alarm torque when driving on a good road. The line only on the left side, with regular fluctuations and a large amplitude is the LDW vibration alarm torque, which exists in the whole picture and has irregular fluctuations. And the line with relatively small amplitude is the hand moment caused by road vibration. Figure 3 is a schematic diagram of the comparison between the hand torque caused by road vibration and the LDW vibration alarm torque when driving on a bad road. The line with regular fluctuation and large amplitude only on the left side is the LDW vibration alarm torque, which exists in the whole picture and has irregular fluctuations. The line is the hand moment caused by road vibration. It can be seen from Figure 2 that the difference between the hand torque caused by road vibration and the LDW vibration alarm torque is significant, so the driver can clearly perceive the LDW vibration alarm, but the driver may mistakenly think that the vehicle is faulty due to the high intensity. It can be seen from Figure 3 that the difference between the hand torque caused by road vibration and the LDW vibration alarm torque is small, so it is difficult for the driver to perceive the LDW vibration alarm.

Therefore, when driving on a good road, the alarm intensity of the LDW can be set relatively small to improve the driver's use experience. When driving on a bad road, the alarm intensity of the LDW needs to be relatively large so that it can be clearly perceived by the driver.

Therefore, this scheme first determines the lane departure warning intensity according to the wheel speed information to ensure that the determined lane departure warning intensity matches the road surface condition reflected by the wheel speed information, and then executes the lane departure warning intensity according to the lane line information and the lane departure warning intensity. Deviation alarm function.

Among them, the position of the vehicle in the current lane can be determined according to the lane line information, and then it can be determined whether the vehicle is about to deviate from the lane, and then an alarm reminder can be issued in time.

According to the wheel speed information, the smoothness of the current road surface can be inferred, and then the lane departure alarm intensity can be determined according to the current road surface smoothness, so that the final output alarm intensity matches the current road conditions, so as to avoid poor road conditions that cause the alarm intensity to be difficult to be controlled by the driver. It is felt, and then the safety of the LDW function is improved.

In an exemplary embodiment, determining the lane departure warning intensity according to the wheel speed information includes:

Determine the vibration level of the wheel according to the wheel speed information;

Determine the road surface smoothness grade according to the vibration degree of the wheels;

The intensity of the lane departure warning is determined according to the road surface smoothness level.

During the driving of the vehicle, the wheels will vibrate under the influence of the road surface smoothness, and the signal of the wheel speed sensor will also be affected by the vibration. Therefore, according to the signals of the wheel speed sensor at different times, the vibration spectrum of the wheel can be obtained, that is, the vibration spectrum of the wheel can be obtained according to the wheel speed information, and then the vibration degree of the wheel at different times can be determined.

The vibration degree of the wheels is closely related to the road surface smoothness, and the intensity of the lane departure alarm is also closely related to the road surface smoothness. Therefore, the road surface smoothness level can be determined first by the vibration degree of the wheels, and then the lane can be determined according to the road surface smoothness level. Deviation from the alarm intensity, the logic is simple, clear and reasonable.

Among them, the specific method of determining the degree of wheel vibration according to the signal of the wheel speed sensor is the same as the conventional method of using the signal of the acceleration sensor to determine the degree of vehicle body vibration, and will not be described in detail here.

In an exemplary embodiment, determining the road surface smoothness level according to the degree of vibration of the wheel includes:

Determine the reference value of road smoothness grade according to the vibration degree of the wheels;

Determine the road smoothness grade according to the road smoothness grade reference value.

Since the vibration level of the wheels is different at different times, if the road surface smoothness level is directly determined according to the vibration level of the wheels, the road surface smoothness level will also change from time to time, and the intensity of the lane departure alarm will also change from time to time. This will make the program complicated and increase the failure rate.

Moreover, it is not reasonable to directly determine the road surface condition by the degree of wheel vibration at a single moment. For example, when the wheels pass through obstacles such as manhole covers, speed bumps, and small stones, the vibration level of the wheels will also change suddenly. It is obviously unreasonable to determine that the road surface is in poor condition.

Therefore, this scheme first determines the reference value of the road surface smoothness grade according to the vibration degree of the wheels, and then determines the road surface smoothness grade according to the reference value of the road surface smoothness grade, which is beneficial to improve the accuracy of the road condition estimation.

In an exemplary embodiment, determining the road surface smoothness grade according to the road surface smoothness grade reference value includes:

Determine whether the reference value of the road surface smoothness level has continued for a set period of time;

Based on the reference value of the road surface smoothness grade having continued for a set period of time, the reference value of the road surface smoothness grade is determined as the new road surface smoothness grade;

Based on the fact that the reference value of the road smoothness grade does not continue to be set for a period of time, the road smoothness grade determined last time is continued to be used.

Since the signal change of the wheel speed sensor is not only affected by the smoothness of the road surface, but also by other factors, such as when passing through a manhole cover or speed bump or small stones, instantaneous vibration will also occur, resulting in a large instantaneous change in the signal of the wheel speed sensor. , which has nothing to do with the road surface smoothness, but the road surface smoothness grade reference value is determined as the value when the road surface smoothness is poor (that is, the road surface condition is poor) due to the large degree of wheel vibration. If the reference value of the road surface smoothness grade is directly determined as the road surface smoothness grade, misjudgment will inevitably occur.

If vibrations are caused by road conditions, the wheels will continue to vibrate for a period of time at roughly the same level. Therefore, the reference value of the road surface smoothness level corresponding to the degree of wheel vibration will also continue for a set period of time, that is, it will remain unchanged for a period of time. At this time, the reference value of the road surface smoothness grade corresponds to the road surface smoothness, so it is more reasonable to determine the reference value of the road surface smoothness grade as the new road surface smoothness grade.

If the reference value of the road surface smoothness level does not last for the set period of time, it indicates that the wheel vibration is an instantaneous vibration, not caused by the road surface smoothness. Therefore, it can be determined that the road surface smoothness has not changed, the road surface smoothness level remains unchanged, and the previous use is continued. Determined level of road surface smoothness.

In Fig. 4, "extended time" indicates that when the reference value of the road surface smoothness level reaches the level indicated by "2" in the figure (that is, the third level in Fig. 5, the 0 in Fig. 4 corresponds to the first level in Fig. 5 ) , 1 in FIG. 4 corresponds to the second level in FIG. 5 ) and lasts for a period of time, at this time, it can be determined that the level of road surface smoothness is the level indicated by 2.

The set duration can be set reasonably as needed, such as 10s, 30s, 1min, 5min, 10min, etc.

In the factory state, the road smoothness grade can be set as the reference value of the road smoothness grade, and the reference value of the road smoothness grade is the road smoothness grade in the good road state. In the subsequent use process, the road surface smoothness grade can be adjusted according to the change of the road surface smoothness, so as to improve the accuracy of the estimation of the road surface smoothness grade.

In an exemplary embodiment, determining the lane departure warning intensity according to the road surface smoothness level includes:

Determine the lane departure warning intensity adjustment information according to the road surface smoothness level;

The lane departure warning intensity is determined according to the lane departure warning intensity adjustment information.

The adjustment of the lane departure warning intensity can be done in different ways according to the needs, for example, it can be determined by direct search, or it can be obtained by calculation. The calculation methods can also be varied, such as calculation by addition and subtraction, or by multiplication.

Therefore, first determine the lane departure warning intensity adjustment information according to the degree of wheel vibration, and then determine the lane departure warning intensity according to the lane departure warning intensity adjustment information, which can have a variety of implementation forms, which is convenient for reasonable selection according to needs.

In an exemplary embodiment, the lane departure warning intensity adjustment information is: an updated value of the lane departure warning intensity. Determining the lane departure alarm intensity according to the lane departure alarm intensity adjustment information includes: determining the updated value of the lane departure alarm intensity as the lane departure alarm intensity.

When the lane departure warning intensity adjustment information is the updated value of the lane departure warning intensity, the system can directly determine the updated value of the lane departure warning intensity as the lane departure warning intensity without calculation. This scheme can save calculation steps, thus simplifying the logic and simplifying the electronic control program.

In another exemplary embodiment, the lane departure warning intensity adjustment information is: a lane departure warning intensity coefficient. Determining the lane departure alarm intensity according to the lane departure alarm intensity adjustment information includes: determining the product of the lane departure alarm intensity reference value and the lane departure alarm intensity coefficient as the lane departure alarm intensity.

When the lane departure warning intensity adjustment information is the lane departure warning intensity coefficient, the system can obtain the lane departure warning intensity through simple multiplication calculation. Since the lane departure warning intensity coefficient is usually relatively small, it is beneficial to reduce the requirement for system storage space.

In an exemplary embodiment, determining the lane departure warning intensity adjustment information according to the road surface smoothness level includes:

According to the mapping relationship between the road surface smoothness grade and the lane departure warning intensity adjustment information, the lane departure warning intensity adjustment information corresponding to the road surface smoothness grade is determined.

In this way, the mapping relationship between the road surface smoothness level and the lane departure warning intensity adjustment information can be directly stored in the system, and of course can also be placed on the network, and the lane departure warning intensity adjustment information can be determined directly by searching.

In an exemplary embodiment, the road surface smoothness level is negatively correlated with the road surface smoothness, the vibration level of the wheels is negatively correlated with the road surface smoothness, the lane departure warning intensity is positively correlated with the road surface smoothness level, and the lane departure warning intensity adjustment information It is positively correlated with the lane departure warning intensity.

The road surface smoothness grade is negatively correlated with the road surface smoothness, which means: the higher the road surface smoothness grade, the worse the road surface smoothness and the worse the road surface condition; the better. The degree of wheel vibration is negatively correlated with the road surface smoothness, which means that the more severe the vibration degree of the wheel, the worse the road surface smoothness and the worse the road surface condition; the slighter the wheel vibration degree, the better the road surface smoothness and the road surface condition the better. From this, the corresponding relationship between the degree of vibration of the wheel and the level of road surface smoothness can be obtained: the higher the level of road surface smoothness, the more severe the degree of vibration of the wheel; the lower the level of road surface smoothness, the lesser the degree of vibration of the wheel.

The lane departure alarm intensity is positively correlated with the road surface smoothness level, which means that the higher the road surface smoothness level, the greater the lane departure alarm intensity; the lower the road surface smoothness level, the smaller the lane departure alarm intensity. The lane departure warning intensity adjustment information is positively correlated with the lane departure warning intensity, which means: the greater the lane departure warning intensity, the greater the lane departure warning intensity adjustment information; the smaller the lane departure warning intensity, the smaller the lane departure warning intensity adjustment information. From this, the corresponding relationship between the lane departure warning intensity adjustment information and the road surface smoothness level can be obtained: the higher the road surface smoothness level, the greater the lane departure warning intensity adjustment information; the lower the road surface smoothness level, the smaller the lane departure warning intensity adjustment information . Specifically, the above mapping relationship can be established through experiments, experience summarization, etc., and stored in the system, and of course, it can also be placed on the network.

In an exemplary embodiment, as shown in FIG. 5 , the grades of road surface smoothness include: grade 1, grade 2 and grade 3; The smoothness is better than the three-level road smoothness.

The lane departure warning intensity adjustment information includes: first adjustment information, second adjustment information and third adjustment information, first adjustment information<second adjustment information<third adjustment information.

In the mapping relationship between road surface smoothness level and lane departure warning intensity adjustment information:

When the road surface smoothness level is Level 1, the adjustment information of the lane departure warning intensity is equal to the first adjustment information;

When the road surface smoothness level is the second level, the adjustment information of the lane departure warning intensity is equal to the second adjustment information;

When the road surface smoothness level is level 3, the adjustment information of the lane departure warning intensity is equal to the third adjustment information.

This scheme divides the road surface smoothness grade into three grades: the first grade of road smoothness is the best, which is a good road; the second grade of road surface smoothness is the second, which is a slightly bad road; the third grade of road surface smoothness is the worst, which is Seriously bad road.

Correspondingly, the lane departure warning intensity adjustment information is also divided into three levels: the first adjustment information corresponds to the first-level road surface smoothness, the second adjustment information corresponds to the second-level road surface smoothness, and the third adjustment information corresponds to the third-level road surface smoothness. correspond.

Since it is impossible for the vibration level of the wheels to remain constant at the same value during driving, even in the case of the same level of road surface smoothness, the vibration level of the wheels will fluctuate. Therefore, the vibration level of the wheels can be divided into three ranges according to the road surface smoothness level: when it is less than the first vibration level, the road surface smoothness level is level one, and the corresponding adjustment information of the lane departure warning intensity is the first adjustment information; When the vibration level is between the second vibration level (the second vibration level is greater than the first vibration level), the road surface smoothness level is level two, and the corresponding lane departure warning level information is the second adjustment information; when it is greater than the second vibration level , the road surface smoothness level is level 3, and the corresponding adjustment information of the lane departure warning intensity is the third adjustment information.

For example (as shown in Figure 5): when the adjustment information of the lane departure alarm intensity is the updated value of the lane departure alarm intensity: when the vibration degree of the wheels is less than the first vibration degree, the road surface smoothness level is one, and the lane departure alarm intensity can be It is recorded as Kon; when the vibration level of the wheel is between the first vibration level and the second vibration level, the road surface smoothness level is the second level, and the lane departure alarm intensity can be recorded as Kon1; when the wheel vibration level is greater than the second vibration level , the road surface smoothness level is level 3, and the lane departure warning intensity can be recorded as Kon2, then Kon<Kon1<Kon2.

The above division method can basically meet the needs of use, and the electronic control program is relatively simple and uncomplicated.

Of course, the way of dividing the road surface smoothness level, the degree of vibration of the wheels, and the adjustment information of the lane departure warning intensity is not limited to the above-mentioned way, and can also be divided into two levels, four levels or even more levels as needed.

In an exemplary embodiment, determining the degree of vibration of the wheel according to the wheel speed information includes:

Filter the wheel speed information;

The degree of vibration of the wheel is determined according to the result of the filtering process.

Filtering the wheel speed information, that is, filtering the signal of the wheel speed sensor, can filter out the interference signal, which is beneficial to improve the accuracy of the subsequent road condition estimation.

In an exemplary embodiment, filtering the wheel speed information includes:

Low-pass filtering and high-pass filtering are performed on the wheel speed information.

In these two filtering processes, by setting the corresponding cut-off frequency, the excessive frequency and the low frequency can be transitioned out, and the road frequency of the bad road can be filtered out, or the frequency component equivalent to the LDW vibration alarm frequency can be filtered out. It is convenient to accurately determine the vibration degree of the wheels, and then accurately determine the lane departure alarm intensity corresponding to the road surface smoothness level.

In one example, low-pass filtering and high-pass filtering are sequentially performed on the wheel speed information, and the cut-off frequency of the low-pass filtering is higher than the cut-off frequency of the high-pass filtering.

In another example, a high-pass filtering process and a low-pass filtering process are sequentially performed on the wheel speed information, and the cut-off frequency of the high-pass filtering process is lower than the cut-off frequency of the low-pass filtering process.

The cut-off frequency of the low-pass filtering process and the cut-off frequency of the high-pass filtering process may be reasonably set according to the conventional road frequency.

In an exemplary embodiment, the wheel speed information is an average value of wheel speed information of a plurality of wheels of the vehicle.

This helps to prevent a single wheel from passing through other obstacles such as manhole covers or small stones, resulting in a misjudgment of poor road conditions, and helps to improve the accuracy of the subsequent judgment process.

As for the average value of the wheel speed information of which wheels to use, it can be reasonably selected according to the driving mode of the vehicle, the specific structure of the vehicle and other factors.

In one example, the wheel speed information is an average value of the wheel speed information of the left front wheel and the left rear wheel.

In another example, the wheel speed information is an average value of the wheel speed information of the right front wheel and the right rear wheel.

In yet another example, the wheel speed information is an average value of the wheel speed information of the left front wheel and the right front wheel.

In yet another example, the wheel speed information is an average value of the wheel speed information of the left and right wheels and the right rear wheel.

As shown in FIG. 6 , an embodiment of the present application further provides a lane departure warning control device 201 , which includes a processor 205 and a memory 206 storing a computer program. When the processor 205 executes the computer program, any one of the foregoing embodiments is implemented. Therefore, it has all the above beneficial effects, and will not be repeated here.

The processor 205 may be an integrated circuit chip with signal processing capability. The above-mentioned processor 205 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component. Various methods, steps, and logical block diagrams disclosed in the embodiments of the present invention can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Embodiments of the present application further provide a lane departure warning system, including: a driving environment condition detection device, a wheel speed detection device, and a lane departure warning control device 201 .

The driving environment condition detection device is configured to detect the driving environment condition.

The wheel speed detection device is set to detect the wheel speed.

The lane departure warning control device 201 is configured to obtain lane line information and wheel speed information according to the detection results of the driving environment condition detection device and the wheel speed detection device, and execute the lane departure alarm function according to the lane line information and the wheel speed information.

The lane departure warning system provided by the embodiment of the present application can comprehensively combine the wheel speed information and the lane line information to perform the lane departure warning function (ie the LDW function), and issue an alarm in time when the vehicle is about to deviate from the lane to prevent the vehicle from leaving the lane. Therefore, the lane line information and the wheel speed information can be used together as the control basis for the lane departure warning function. Since the wheel speed information can reflect the vibration of the wheels, and then indirectly reflect the smoothness of the current road surface, the smoothness of the current road can be estimated according to the wheel speed information in the process of executing the lane departure alarm function, and then can be based on the current road. Adjust the alarm intensity of the lane departure alarm function by adjusting the smoothness of the lane departure alarm function, so as to avoid the difficulty for users to feel the alarm due to the influence of road conditions when the road conditions are not good. In this way, the execution of the lane departure warning function comprehensively considers the lane line information and the road surface smoothness, thereby helping to improve the safety and use experience of the lane departure warning function.

Moreover, compared to using the acceleration sensor to estimate the smoothness of the road surface, the embodiment of the present application estimates the smoothness of the current road surface by using wheel speed information, that is, by using the signal of the wheel speed sensor to estimate the smoothness of the road surface. Since the acceleration sensor is mounted on the body and is relatively far from the ground, it will detect body vibration other than the steering wheel vibration, which is subject to more interference. The wheel speed sensor, as the sensor closest to the ground, has a greater advantage than other sensors when it is used to monitor the road surface state, and is less disturbed by other factors, so it has a high accuracy for estimating the road surface smoothness.

Wherein, as shown in FIG. 7 , the driving environment condition detection device 400 includes, but is not limited to, a radar sensor 107 , a camera sensor 108 , a lidar sensor, an ultrasonic sensor, and the like.

In one example, as shown in FIG. 8 , the driving environment condition detection device 400 includes: a first radar sensor 1071 for sensing the driving environment directly ahead, a second radar sensor 1072 for sensing the driving environment on the right side in front, The third radar sensor 1073 for sensing the driving environment on the left side in front of the vehicle, the first camera sensor 1081 mainly for detecting the driving environment in front of the vehicle, the second camera sensor 1082 for detecting the driving environment on the left side of the vehicle, and the second camera sensor 1082 mainly for detecting the driving environment on the left side of the vehicle. The third camera sensor 1083 for the side driving environment, the fourth radar sensor 1074 mainly for detecting the driving environment directly behind, the fifth radar sensor 1075 mainly for detecting the driving environment of the right rear, the fourth radar sensor 1075 mainly for detecting the driving environment of the left rear. Six radar sensors 1076.

As long as the driving environment can be detected, the type of sensor (radar, lidar, ultrasonic sensor, camera sensor 108, etc.) is not required. The sensor that detects the driving environment can detect and identify the speed, relative speed, position, angle, size, etc. of the three-dimensional objects around the vehicle.

Among them, as long as the driving environment ahead can be detected, the execution of the lane departure warning function (LDW) can be guaranteed, and there is no requirement for the number of sensors.

The wheel speed detection device includes but is not limited to: a right front wheel speed sensor 112 , a left front wheel speed sensor 113 , a right rear wheel speed sensor 114 , and a left rear wheel speed sensor 115 .

In an exemplary embodiment, the lane departure warning control device 201 includes: a road surface smoothness level determination module 2024 and a lane departure warning control module 2011 .

The road surface smoothness level determination module 2024 is configured to: determine the road surface smoothness level according to the wheel speed information.

The lane departure warning control module 2011 is configured to: determine the lane departure warning intensity according to the road surface smoothness level, and execute the lane departure warning function according to the lane line information and the lane departure warning intensity.

This scheme firstly determines the lane departure warning intensity based on the wheel speed information to ensure that the determined lane departure warning intensity matches the road surface condition reflected by the wheel speed information, and then executes the lane departure warning function according to the lane line information and the lane departure warning intensity. .

In an exemplary embodiment, the road surface smoothness level determination module 2024 includes: a first determination module and a second determination module. The lane departure warning control module 2011 includes: a third determination module and a control module.

The first determination module is configured to determine the degree of vibration of the wheel according to the wheel speed information.

The second determination module is configured to determine the road surface smoothness level according to the degree of vibration of the wheel.

The third determining module is configured to determine the lane departure warning intensity according to the road surface smoothness level.

The control module is set to execute the lane departure alarm function according to the lane line information and the lane departure alarm intensity.

In an exemplary embodiment, the second determination module includes: a first determination unit and a second determination unit.

The first determining unit is configured to: determine the reference value of the road surface smoothness grade according to the degree of vibration of the wheel.

The second determining unit is configured to: determine the road surface smoothness grade according to the road surface smoothness grade reference value.

In an exemplary embodiment, the second determining unit is set to:

Determine whether the reference value of the road surface smoothness level has continued for a set period of time;

Based on the reference value of the road surface smoothness grade having continued for a set period of time, the reference value of the road surface smoothness grade is determined as the new road surface smoothness grade;

Based on the fact that the reference value of the road smoothness grade does not continue to be set for a period of time, the road smoothness grade determined last time is continued to be used.

In an exemplary embodiment, the third determining module is configured to: determine the lane departure warning intensity adjustment information according to the road surface smoothness level; and determine the lane departure warning intensity according to the lane departure warning intensity adjustment information.

In an exemplary embodiment, the lane departure warning intensity adjustment information is: an updated value of the lane departure warning intensity. The third determining module is set to: determine the updated value of the lane departure warning intensity as the lane departure warning intensity.

In another exemplary embodiment, the lane departure warning intensity adjustment information is: a lane departure warning intensity coefficient. The third determining module is configured to: determine the product of the lane departure alarm intensity reference value and the lane departure alarm intensity coefficient as the lane departure alarm intensity.

In an exemplary embodiment, the third determining module is configured to: determine the lane departure warning intensity adjustment information corresponding to the road surface smoothness level according to the mapping relationship between the road surface smoothness level and the lane departure warning intensity adjustment information.

In an exemplary embodiment, the road surface smoothness level is negatively correlated with the road surface smoothness, the vibration level of the wheels is negatively correlated with the road surface smoothness, the lane departure warning intensity is positively correlated with the road surface smoothness level, and the lane departure warning intensity adjustment information It is positively correlated with the lane departure warning intensity.

In an exemplary embodiment, the grades of road surface smoothness include: grade 1, grade 2, and grade 3, where grade 1 is better than grade 2, and grade 2 is better than grade 3 road surface smoothness.

The lane departure warning intensity adjustment information includes: first adjustment information, second adjustment information and third adjustment information, first adjustment information<second adjustment information<third adjustment information.

In the mapping relationship between road surface smoothness level and lane departure warning intensity adjustment information:

When the road surface smoothness level is Level 1, the adjustment information of the lane departure warning intensity is equal to the first adjustment information;

When the road surface smoothness level is the second level, the adjustment information of the lane departure warning intensity is equal to the second adjustment information;

When the road surface smoothness level is level 3, the adjustment information of the lane departure warning intensity is equal to the third adjustment information.

In an exemplary embodiment, the lane departure warning system further includes: a filtering module, where the filtering module is configured to perform filtering processing on the wheel speed information. The first determining module is configured to: determine the degree of vibration of the wheel according to the result of the filtering process.

In an exemplary embodiment, the filtering module includes a low-pass filtering processing module 2021 (ie, the LPF processing module 2021 ) and a high-pass filtering processing module 2022 (ie, the HPF processing module 2022 ). The low-pass processing module performs low-pass filtering processing on the wheel speed information, and the high-pass processing module performs high-pass filtering processing on the wheel speed information.

In an exemplary embodiment, the wheel speed information is an average value of wheel speed information of a plurality of wheels of the vehicle. The lane departure warning system further includes a calculation module 2023, and the calculation module 2023 is configured to calculate the average value of the wheel train information of the plurality of wheels.

As shown in FIG. 7 , an embodiment of the present application further provides a vehicle, including a driving assistance ECU 200 (ie, a driving assistance control device), and the driving assistance ECU 200 includes the lane departure warning control device 201 of any one of the foregoing embodiments, Therefore, it has all the above beneficial effects, which will not be repeated here.

Wherein, the vehicle also includes a signal input system, a signal output system and an execution system.

As shown in FIG. 7 , the signal input system is configured to input a signal to the lane departure warning control device 201 of the driving assistance system. The signal output system is configured to: receive the output signal of the lane departure warning control device 201, and control the execution system to perform corresponding operations according to the output signal.

Wherein, as shown in FIG. 7 , the signal input system may include: a turn signal switch 101 that can detect the driver's turn signal operation, an accelerator pedal sensor 102 that can detect the driver's accelerator operation, and a brake pedal sensor 103 that can detect the driver's brake operation , a steering angle sensor 104 for detecting the steering operation of the driver, a hand torque sensor 105 for detecting the steering operation force of the driver, a vehicle speed sensor 106 for detecting the vehicle speed, a yaw rate sensor 109 for detecting the motion state of the vehicle, a longitudinal acceleration sensor 110, a lateral acceleration sensor The sensor 111 and the wheel speed detection device (including the right front wheel speed sensor 112, the left front wheel speed sensor 113, the right rear wheel speed sensor 114, the left and right wheel speed sensors 115) and the driving environment condition detection device 400 (for example, for detecting surrounding Camera sensor 108, radar sensor 107) of the environment.

The signal output system may include: engine ECU 301 , brake ECU 302 , steering ECU 303 , and information display ECU 304 .

The execution system may include: an engine 311 , a braking system 312 , a steering system 313 and an information display device 314 . The engine ECU 301 controls the engine 311 based on the output signal, and mainly executes acceleration control. The brake ECU 302 controls the brake system 312 and mainly performs deceleration control. The steering ECU 303 controls the steering system 313 and mainly performs lateral steering control. The information display ECU 304 controls the information display device 314, and mainly provides the driver with the display of vehicle status and function control status information.

In a specific embodiment, the wheel speed information is the average value of the wheel speed information of the right front wheel and the right rear wheel. As shown in FIG. 9 , the detection signals of the front right wheel speed sensor and the front left wheel speed sensor are summed by the calculation module 2023 and then averaged, and then processed by the low-pass filter processing module 2021 and the high-pass filter processing module 2022 and sent to the road surface The smoothness level determination module 2024, the road surface smoothness level determination module 2024 determines the road surface smoothness level and sends it to the lane departure warning control module 2011. The detection result of the driving environment condition detection device (eg, camera sensor) is also sent to the lane departure warning control module 2011 . The lane departure alarm control module 2011 determines whether the vehicle is about to deviate from the lane according to the lane line information; when it is determined that the vehicle is about to deviate from the lane, it sends an alarm according to the intensity of the lane departure alarm to remind the driver and prevent the vehicle from leaving the lane.

The technical effects of the foregoing embodiments can be understood with reference to the foregoing embodiments in the section of the lane departure warning method, which will not be repeated here.

To sum up, the lane departure alarm method, lane departure alarm control device, and lane departure alarm system provided by the embodiments of the present application can infer the smoothness of the current road surface according to the wheel speed information, and then reasonably determine according to different road surface conditions. Lane departure warning intensity threshold, thereby improving the recognizability of the lane departure warning function, and improving the safety and user experience of the LDW function.

In any one or more of the above-described exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include computer-readable storage media corresponding to tangible media, such as data storage media, or communication media including any medium that facilitates transfer of a computer program from one place to another, eg, according to a communication protocol. In this manner, a computer-readable medium may generally correspond to a non-transitory, tangible computer-readable storage medium or a communication medium such as a signal or carrier wave. Data storage media can be any available media that can be accessed by one or more computers or one or more processors to retrieve instructions, code and/or data structures for implementing the techniques described in this disclosure. The computer program product may comprise a computer-readable medium.

By way of example and not limitation, such computer-readable storage media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, flash memory, or may be used to store instructions or data Any other medium in the form of a structure that stores the desired program code and that can be accessed by a computer. Moreover, any connection is also termed a computer-readable medium if, for example, a connection is made from a website, server, or other remote sources transmit instructions, coaxial cable, fiber optic cable, twine, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transitory (transitory) media, but are instead directed to non-transitory, tangible storage media. As used herein, magnetic disks and optical disks include compact disks (CDs), laser disks, optical disks, digital versatile disks (DVDs), floppy disks, or Blu-ray disks, etc., where disks typically reproduce data magnetically, while optical disks use lasers to Optically reproduce data. Combinations of the above should also be included within the scope of computer-readable media.

For example, one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs) field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits, may be implemented by one or more a processor to execute instructions. Accordingly, the term "processor," as used herein may refer to any of the foregoing structure or any other structure suitable for implementation of the techniques described herein. Additionally, in some aspects, the functionality described herein may be provided within dedicated hardware and/or software modules configured for encoding and decoding, or incorporated in a combined codec. Also, the techniques may be fully implemented in one or more circuits or logic elements.

The technical solutions of the embodiments of the present disclosure may be implemented in a wide variety of devices or apparatuses, including a wireless handset, an integrated circuit (IC), or a set of ICs (eg, a chip set). Various components, modules, or units are described in the disclosed embodiments to emphasize functional aspects of devices configured to perform the described techniques, but do not necessarily require realization by different hardware units. Rather, as described above, the various units may be combined in codec hardware units or provided by a collection of interoperating hardware units (including one or more processors as described above) in conjunction with suitable software and/or firmware.

Claims (15)

1. A lane departure warning method characterized by comprising:

obtaining wheel speed information and lane line information;

and executing a lane departure warning function according to the wheel speed information and the lane line information.

2. The lane departure warning method according to claim 1, wherein said performing a lane departure warning function based on the wheel speed information and the lane line information comprises:

determining lane departure warning strength according to the wheel speed information;

and executing a lane departure warning function according to the lane line information and the lane departure warning strength.

3. The lane departure warning method according to claim 2, wherein said determining a lane departure warning strength from the wheel speed information comprises:

determining the vibration degree of the wheel according to the wheel speed information;

determining the road surface flatness grade according to the vibration degree of the wheels;

and determining the lane departure warning strength according to the road flatness grade.

4. The lane departure warning method according to claim 3, wherein said determining a road flatness level according to the degree of vibration of the wheels comprises:

determining a road surface flatness grade reference value according to the vibration degree of the wheels;

and determining the road flatness grade according to the road flatness grade reference value.

5. The lane departure warning method according to claim 4, wherein said determining the road flatness level according to the road flatness level reference value comprises:

judging whether the road surface flatness grade reference value is set for a duration continuously;

determining the road flatness grade reference value as a new road flatness grade based on the road flatness grade reference value for which the duration is continuously set;

and continuously using the previously determined road flatness grade based on the fact that the road flatness grade reference value is not set for a long time continuously.

6. The lane departure warning method according to claim 3, wherein said determining a lane departure warning strength from the road flatness level includes:

determining lane departure warning intensity adjustment information according to the pavement evenness grade;

and determining the lane departure warning strength according to the lane departure warning strength adjusting information.

7. The lane departure warning method according to claim 6,

the lane departure warning intensity adjustment information is as follows: an updated value of the lane departure warning strength; the determining the lane departure warning strength according to the lane departure warning strength adjustment information includes: determining the updated value of the lane departure warning strength as the lane departure warning strength; or

The lane departure warning intensity adjustment information is as follows: lane departure warning intensity coefficient; the determining the lane departure warning strength according to the lane departure warning strength adjustment information includes: and determining the product of the reference value of the lane departure warning intensity and the coefficient of the lane departure warning intensity as the lane departure warning intensity.

8. The method according to claim 6, wherein the determining lane departure warning strength adjustment information according to the road flatness level includes:

and determining lane departure alarm intensity adjustment information corresponding to the road flatness grade according to the mapping relation between the road flatness grade and the lane departure alarm intensity adjustment information.

9. The lane departure warning method according to claim 8,

the road surface evenness level is negatively correlated with the road surface evenness, the vibration degree of the wheel is negatively correlated with the road surface evenness, the lane departure warning strength is positively correlated with the road surface evenness level, and the lane departure warning strength adjustment information is positively correlated with the lane departure warning strength.

10. The lane departure warning method according to claim 9, wherein the road flatness level includes: the pavement evenness of the first level is superior to that of the second level, and the pavement evenness of the second level is superior to that of the third level;

the lane departure warning strength adjustment information includes: the device comprises first adjustment information, second adjustment information and third adjustment information, wherein the first adjustment information is smaller than the second adjustment information and smaller than the third adjustment information;

in the mapping relation between the road flatness grade and the lane departure warning intensity adjustment information:

when the road surface evenness grade is one grade, the lane departure warning strength adjusting information is equal to the first adjusting information;

when the road surface evenness grade is in the second grade, the lane departure warning strength adjusting information is equal to the second adjusting information;

and when the road surface flatness grade is three levels, the lane departure warning strength adjustment information is equal to the third adjustment information.

11. The lane departure warning method according to any one of claims 3 to 10, wherein said determining a degree of vibration of a wheel from the wheel speed information comprises:

carrying out filtering processing on the wheel speed information;

and determining the vibration degree of the wheel according to the result after the filtering processing.

12. The lane departure warning method according to any one of claims 1 to 10, wherein the wheel speed information is an average value of wheel speed information of a plurality of wheels of a vehicle.

13. A lane departure warning control apparatus comprising a processor and a memory storing a computer program, the processor implementing the steps of the lane departure warning method according to any one of claims 1 to 12 when executing the computer program.

14. A lane departure warning system, comprising:

driving environment condition detection means configured to detect a driving environment condition;

a wheel speed detection device configured to detect a wheel speed; and

and the lane departure alarm control device is configured to acquire lane line information and wheel speed information according to detection results of the driving environment condition detection device and the wheel speed detection device and execute a lane departure alarm function according to the lane line information and the wheel speed information.

15. The lane departure warning system according to claim 14, wherein the lane departure warning control means includes:

the road surface flatness grade determining module is used for determining the road surface flatness grade according to the wheel speed information of the wheels;

and the lane departure warning control module is used for determining the lane departure warning strength according to the pavement evenness grade and executing the lane departure warning function according to the lane line information and the lane departure warning strength.

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