LANE DEPARTURE WARNING METHOD AND SYSTEM THEREOF

• US 20100182139A1
• Filed: 07/17/2009
• Published: 07/22/2010
• Est. Priority Date: 01/19/2009
• Status: Active Grant

• Current Assignee: National Taiwan University of Science and Technology
• Original Assignee: National Taiwan University of Science and Technology
• Inventors: Chen, Liang-Kuang, Lian, Yi-Jian
• Granted Patent: US 8,179,243 B2
• Time in Patent Office: Days
• US Class Current: 340/435
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system

Abstract

A lane departure warning method and system thereof are provided. First a driver model is established, wherein the driver model is established according to a lateral position error of a vehicle being driven and a steering angle generated by a driver for controlling the vehicle. Next, a system identification process is performed on the lateral position error and the steering angle, so as to obtain specific information of the driver model. An estimation process is performed on the specific information and a plurality of raw statistical data, so as to obtain a time to lane crossing (TLC). A decision process is performed on the TLC and a driver drowsiness index, so as to obtain a lane departure warning strategy.

Claims

1. A lane departure warning method, comprising:

establishing a driver model, wherein the driver model generates a steering angle according to a lateral position error of a vehicle being driven to control driving of the vehicle;

performing a system identification process on the lateral position error and the steering angle, so as to obtain specific information of the driver model;

performing an estimation process on the specific information and a plurality of raw statistical data, so as to obtain a time to lane crossing; and

performing a decision process on the time to lane crossing and a driver drowsiness index, so as to obtain a lane departure warning strategy.

2. The lane departure warning method of claim 1, wherein the lateral position error is a lateral difference between an actual path of the vehicle being driven and a predetermined path.

3. The lane departure warning method of claim 1, wherein the specific information comprises a time function of the steering angle.

4. The lane departure warning method of claim 1, wherein the raw statistical data comprises the steering angle, a lateral displacement, a lateral displacement speed, a deviation angle and a deviation angular speed.

5. The lane departure warning method of claim 1, wherein the time to lane crossing is a time required for the vehicle to be driven to a border of a lane.

6. The lane departure warning method of claim 1, wherein the decision process comprises:

performing a judgment process on the driver drowsiness index and the time to lane crossing through a fuzzy rule, so as to obtain a lane departure warning strategy.

7. The lane departure warning method of claim 1, wherein the decision process comprises:

performing a judgment process on the driver drowsiness index and the time to lane crossing through a support vector machine theory, so as to obtain a lane departure warning strategy.

8. The lane departure warning method of claim 1, further comprising performing an analytical process on the specific information, so as to obtain the driver drowsiness index.

9. The lane departure warning method of claim 1, further comprising performing an analytical process on a physiological status of a driver, so as to obtain the driver drowsiness index.

10. The lane departure warning method of claim 1, further comprising performing an analytical process on a driving performance of a driver, so as to obtain the driver drowsiness index.

11. A lane departure warning system, comprising:

a system identification module, establishing a driver model and performing a system identification process on a lateral position error of a vehicle being driven and a steering angle, so as to obtain specific information of the driver model;

an estimation module coupled to the system identification module, performing an estimation process on the specific information and a plurality of raw statistical data, so as to obtain a time to lane crossing; and

a decision module coupled to the estimation module, performing a decision process on the time to lane crossing and a driver drowsiness index, so as to obtain a lane departure warning strategy.

12. The lane departure warning system of claim 11, wherein the lateral position error is a lateral difference between an actual path of the vehicle being driven and a predetermined path.

13. The lane departure warning system of claim 11, wherein the specific information comprises a time function of the steering angle.

14. The lane departure warning system of claim 11, wherein the raw statistical data comprises the steering angle, a lateral displacement, a lateral displacement speed, a deviation angle and a deviation angular speed.

15. The lane departure warning system of claim 11, wherein the time to lane crossing is a time required for the vehicle to be driven to a border of a lane.

16. The lane departure warning system of claim 11, wherein the decision process comprises:

performing a judgment process on the driver drowsiness index and the time to lane crossing, so as to obtain a lane departure warning strategy.

17. The lane departure warning system of claim 11, wherein the decision process comprises:

performing a judgment process on the driver drowsiness index and the time to lane crossing through a support vector machine theory, so as to obtain a lane departure warning strategy.

18. The lane departure warning system of claim 11, further comprising a driver status monitor module coupled to the system identification module and the decision module and performing an analytical process on the specific information, so as to obtain the driver drowsiness index.

19. The lane departure warning system of claim 11, further comprising a driver status monitor module coupled to the decision module and performing an analytical process on a physiological status of a driver, so as to obtain the driver drowsiness index.

20. The lane departure warning system of claim 11, further comprising a driver status monitor module coupled to the decision module and performing an analytical process on a driving performance of a driver, so as to obtain the driver drowsiness index.