The invention discloses a vehicle frequent lane change detection method based on lane level positioning. The method comprises the following steps: collecting longitude and latitude data of a vehicle in real time; detecting the rightmost lane line of the road; calculating a real distance d1 between the center point of the vehicle head and the rightmost lane line, and calculating a pixel distance d2 between the center point of the vehicle head and the rightmost lane line of the image; a classifier is used for training the lane where the vehicle is located and the distance, and then the lane where the vehicle is located is judged according to real-time d1 and d2 data; according to the lane judgment result, when it is detected that the lane where the vehicle is located changes, time is recorded automatically, and whether frequent lane changing occurs or not is judged accordingly. Compared with a traditional frequent lane change detection technology, the method has a good application prospect from a lane positioning technology, the situation that the lane cannot be judged under the condition that positioning equipment fails or a video cannot detect the rightmost lane line in a complex environment is avoided, a high lane detection effect is achieved in any environment, and the method is suitable for large-scale popularization and application. Therefore, whether the vehicle carries out frequent lane changing behaviors or not can be accurately judged.
本发明公开了一种基于车道级定位的车辆频繁变道检测方法,包括:实时采集车辆经纬度数据;检测道路最右车道线;计算车头中心点与最右车道线的真实距离d1,计算车头中心点与图像最右车道线的像素距离d2;利用分类器对所在车道和上述距离进行训练,之后根据实时d1、d2数据对车辆所在车道进行判断;根据车道判别结果,在检测到车辆所在车道发生变化时,自动记录时间,以此判断是否属于频繁变道。本发明相较于传统的频繁变道检测技术,从车道定位技术出发,具备较好的应用前景,且避免复杂环境下定位设备失效或视频无法检测最右车道线的情况下无法判断车道的情况,在任意环境下均具备较高的车道检测效果,从而精准判断车辆是否进行频繁变道行为。
Vehicle frequent lane change detection method based on lane level positioning
基于车道级定位的车辆频繁变道检测方法
2022-05-24
Patent
Electronic Resource
Chinese
European Patent Office | 2021
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