1. A method for lane departure prevention based on acoustics, comprising the steps of:

collecting sound data of the surrounding environment of the vehicle through a sound pickup device;

analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result;

the sound pickup device is arranged on a side wheel arch of the vehicle.

2. The method for preventing the lane departure based on the acoustics as claimed in claim 1, wherein the step of analyzing the sound data of the environment surrounding the vehicle and judging whether the vehicle deviates according to the analysis result further comprises the steps of:

identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency;

and if the vehicle is recognized to run on the vocal cords, giving out early warning to the vehicle according to the speed of the vehicle.

3. The method for preventing the lane departure based on the acoustics as claimed in claim 1, wherein the step of analyzing the sound data of the environment surrounding the vehicle and judging whether the vehicle deviates according to the analysis result further comprises the steps of:

analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result;

the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency.

4. The method for lane departure prevention based on acoustics as claimed in claim 1, further comprising the steps of:

and when the doors and windows of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to the sound player in the vehicle for playing.

5. The method for lane departure prevention based on acoustics as claimed in claim 1, further comprising the steps of:

and when the door and window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle by the in-vehicle sound player, and playing the sound data subjected to the noise reduction processing in the vehicle.

6. The method for lane departure prevention based on acoustics as claimed in claim 1, further comprising the steps of:

when sound features approaching vehicles in adjacent lanes are captured by analyzing sound data of the surrounding environment of the vehicles, the distance and the approaching speed of the vehicles in the adjacent lanes are analyzed by fusing side-looking camera data, and guidance is given to vehicle avoidance according to an analysis result.

7. The method for lane departure prevention based on acoustics according to any of claims 1 to 6, wherein a sound pickup is provided on each side wheel arch of the vehicle;

the sound pickup is a microphone pickup.

8. An acoustics-based system for lane departure prevention, comprising: a sound pickup and a sound data analysis unit;

the sound pickup is configured to: collecting sound data of the surrounding environment of the vehicle, and sending the sound data of the surrounding environment of the vehicle to the sound data analysis unit;

the sound data analysis unit is used for: analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result;

the sound pickup device is arranged on a side wheel arch of the vehicle.

9. An acoustically based lane departure prevention system as claimed in claim 8,

the sound data analysis unit is further configured to: identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency; if the fact that the vehicle runs on the vocal cords is recognized, early warning is sent to the vehicle according to the speed of the vehicle;

or the sound data analysis unit is further configured to: analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result;

the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency.

10. An acoustically based lane departure prevention system as claimed in claim 8,

the sound data analysis unit is further configured to: when the doors and windows of the vehicle are identified to be closed, synchronizing sound data of the surrounding environment of the vehicle to a sound player in the vehicle for playing;

or further comprising an in-vehicle sound player, the sound data analysis unit being further configured to: when the door and the window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, wherein the in-vehicle sound player is used for: and carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle, and playing the sound data subjected to the noise reduction processing.

Background

Along with the improvement of the requirements of people on the safety performance of the automobile, the ultrasonic radar system is widely applied to the active safety control of the intelligent driving automobile, the ultrasonic radar has a good recognition rate on static obstacles and a good recognition rate on obstacles close to the automobile body, and stable perception performance is provided for automatic parking.

However, it has the following disadvantages: 1. the vehicle can not be used in a severe environment, 2, the vehicle runs at high speed, the recognition effect is poor, and 3, false alarm is easy to generate for short obstacles.

Disclosure of Invention

Therefore, a method for preventing lane departure based on acoustics is needed to be provided, and the technical problems that in the prior art, an ultrasonic radar is used for identifying obstacles, so that the ultrasonic radar cannot be used in a severe environment in the aspect of active safety control of an intelligent driving automobile, the intelligent driving automobile runs at a high speed, the identification effect is poor, false alarms are easy to generate on short obstacles, and the like are solved. The specific technical scheme is as follows:

a method for lane departure prevention based on acoustics, comprising the steps of:

collecting sound data of the surrounding environment of the vehicle through a sound pickup device;

analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result;

the sound pickup device is arranged on a side wheel arch of the vehicle.

Further, the step of analyzing the sound data of the surrounding environment of the vehicle and judging whether the vehicle is off tracking according to the analysis result includes the steps of:

identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency;

and if the vehicle is recognized to run on the vocal cords, giving out early warning to the vehicle according to the speed of the vehicle.

Further, the step of analyzing the sound data of the surrounding environment of the vehicle and judging whether the vehicle is off tracking according to the analysis result includes the steps of:

analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result;

the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency.

Further, the method also comprises the following steps:

and when the doors and windows of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to the sound player in the vehicle for playing.

Further, the method also comprises the following steps:

and when the door and window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle by the in-vehicle sound player, and playing the sound data subjected to the noise reduction processing in the vehicle.

Further, the method also comprises the following steps:

when sound features approaching vehicles in adjacent lanes are captured by analyzing sound data of the surrounding environment of the vehicles, the distance and the approaching speed of the vehicles in the adjacent lanes are analyzed by fusing side-looking camera data, and guidance is given to vehicle avoidance according to an analysis result.

Furthermore, each side wall wheel arch of the vehicle is provided with a sound pickup device; the sound pickup is a microphone pickup.

In order to solve the technical problem, the system for preventing the lane departure based on the acoustics is also provided, and the specific technical scheme is as follows:

an acoustics-based system for lane departure prevention, comprising: a sound pickup and a sound data analysis unit;

the sound pickup is configured to: collecting sound data of the surrounding environment of the vehicle, and sending the sound data of the surrounding environment of the vehicle to the sound data analysis unit;

the sound data analysis unit is used for: analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result;

the sound pickup device is arranged on a side wheel arch of the vehicle.

Further, the sound data analysis unit is further configured to: identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency; if the fact that the vehicle runs on the vocal cords is recognized, early warning is sent to the vehicle according to the speed of the vehicle;

or the sound data analysis unit is further configured to: analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result;

the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency.

Further, the sound data analysis unit is further configured to: when the doors and windows of the vehicle are identified to be closed, synchronizing sound data of the surrounding environment of the vehicle to a sound player in the vehicle for playing;

or further comprising an in-vehicle sound player, the sound data analysis unit being further configured to: when the door and the window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, wherein the in-vehicle sound player is used for: and carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle, and playing the sound data subjected to the noise reduction processing.

The invention has the beneficial effects that: a method for lane departure prevention based on acoustics, comprising the steps of: collecting sound data of the surrounding environment of the vehicle through a sound pickup device; analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result; the sound pickup device is arranged on a side wheel arch of the vehicle. By analyzing the sound data of the surrounding environment of the vehicle, even in a severe environment or when the vehicle speed is very fast, as long as the wheels run on the rumble strip, the sound is completely different, and whether the vehicle deviates can be judged immediately by identifying the sound.

Drawings

FIG. 1 is a flow chart of a method for lane departure prevention based on acoustic application according to an embodiment;

fig. 2 is a block diagram of a system for lane departure prevention based on acoustics according to an embodiment.

Description of reference numerals:

200. an acoustics-based system for lane departure prevention,

201. a sound pick-up device is arranged on the base,

202. a sound data analysis unit.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

First, the core technical idea of the present application is explained: this application mainly is through setting up sound pickup apparatus on vehicle side wall wheel arch, so alright gather vehicle surrounding environment sound data, carry out the analysis to these surrounding environment sound data, alright judge the condition of going of vehicle, for example when the vehicle off tracking runs to the rumble strip, through discerning the sound line in the sound data that it runs on the rumble strip, then can make the guidance of going to the vehicle at once. Similarly, other conditions can be obtained by analyzing the sound data of the surrounding environment, so as to guide the vehicle to run. Because the collection of sound is not influenced even if the environment is severe or the vehicle runs at high speed, the accuracy of result judgment is not influenced, and the recognition degree of short obstacles is higher by analyzing the rebound characteristic parameters of the sound around the vehicle.

Referring to fig. 1, in the present embodiment, a method for applying acoustics to lane departure prevention may be applied to a system for applying acoustics to lane departure prevention, and the system for applying acoustics to lane departure prevention includes: a sound pickup and a sound data analysis unit.

In the present embodiment, preferably, the sound pickup is a microphone pickup, and one sound pickup is provided for each side wheel arch of the vehicle. Therefore, the running sound of the four tires and the surrounding environment sound during the running process of the four tires can be collected. The specific implementation mode is as follows:

step S101: the sound pickup collects sound data of the vehicle surroundings.

Step S102: analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result; the sound pickup device is arranged on a side wheel arch of the vehicle.

A method for lane departure prevention based on acoustics, comprising the steps of: collecting sound data of the surrounding environment of the vehicle through a sound pickup device; analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result; the sound pickup device is arranged on a side wheel arch of the vehicle. By analyzing the sound data of the surrounding environment of the vehicle, even in a severe environment or when the vehicle speed is very fast, as long as the wheels run on the rumble strip, the sound is completely different, and whether the vehicle deviates can be judged immediately by identifying the sound.

Further, the step of analyzing the sound data of the surrounding environment of the vehicle and judging whether the vehicle is off tracking according to the analysis result includes the steps of: identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency; and if the vehicle is recognized to run on the vocal cords, giving out early warning to the vehicle according to the speed of the vehicle. In the normal running process of the vehicle, when the vehicle deviates, the tire on one side presses the rumble strip, at the moment, the sound pickup device can identify the rumble strip according to the voiceprint, and meanwhile, the vehicle speed information can be estimated according to the frequency of the rumble strip. And then send out early warning to the vehicle. If the tire in the left front of the vehicle is opened to the rumble strip, a vehicle right turning prompt is sent out, and different angle adjustment is carried out according to the vehicle speed.

Such as: at low speed, when the left front wheel runs on the rumble strip, the cockpit gives light alarm and activates the front-view camera to monitor the road line,

when the left front wheel and the left rear wheel run on the rumble strip, the cockpit performs sound-light alarm, and meanwhile, the LKA function controls the EPs to finely adjust the vehicle to turn right.

When the left front wheel runs on the rumble strip, the cockpit gives light alarm, the front-view camera is activated to monitor the road line, when the left front wheel and the left rear wheel run on the rumble strip, the cockpit gives light alarm, the LKA function controls the EPs to finely adjust the vehicle to turn right, and the AEB function gives a smaller deceleration to reduce the vehicle speed.

The specific voiceprint recognition may be as follows: the sound signal has abundant information content, and has unique advantage under the unsuitable occasion of many vision, sense of touch, smell, and the sound detection principle is discerned the sound that the wheel face in service sent, and the voiceprint identification system based on the sound signal compares the audio frequency characteristic that extracts with the sound source of scene storehouse, can discern corresponding road conditions. Road noise generated by the driving of automobiles is directly related to different types of road surfaces with different wear conditions. Based on the tire sound obtained under normal vehicle running, the audio classifier can correctly predict the road surface type and the wheel wear condition thereof. The method can be used for collecting and analyzing road sounds collected within a certain time, and frequency domain energy spectrums in two states of congestion and unblocked are obviously different. Obvious peaks exist at the idle frequency during congestion, the steepness degree of the peaks is converted into a coefficient k, and road condition judgment is carried out based on the k value.

Furthermore, the position of the object can be judged according to the sound intensity of the object picked up by the 4 microphones. Such as: the left rear part is approached by the automobile, the sound intensity picked up by the microphone at the left rear part is the maximum, the next rear right part is the left front part. The automobile realizes the functions of listening and distinguishing positions of an automatic driving system through a microphone pickup.

Further, the step of analyzing the sound data of the surrounding environment of the vehicle and judging whether the vehicle is off tracking according to the analysis result includes the steps of: analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result; the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency. The method specifically comprises the following steps:

when the vehicle runs, the vehicle can emit sounds with characteristics such as air resistance, tire squeal and the like, the sounds are transmitted to the wall body and can be rebounded to a large extent, and the transverse distance between the vehicle and the wall body can be judged according to the loudness and the interval of the rebounding sounds.

And (3) identifying the guardrail: the guardrail comprises stand and horizontal pole. In the driving process, air resistance, tire squeal and other sounds with characteristics are transmitted to the upright post and the open place in sequence, and the guardrail can be identified according to the frequency of the rebound sounds.

Further, the method also comprises the following steps: and when the doors and windows of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to the sound player in the vehicle for playing. The method specifically comprises the following steps: when door window locking, the sound outside the car is picked up to the microphone, through the sound outside speaker of car interior speaker and the synchronous broadcast of headrest stereo set, realizes that the interior three-dimensional surround sound outside can the real-time acquisition of tightly closing door window operating mode car. The automobile sound source pickup device is characterized in that the 4 pickup devices outside the automobile can acquire the plane space position of a sound source, the stereo sound outside the automobile is reproduced through the loudspeaker inside the automobile, and a driver can easily distinguish the road condition outside the automobile through the stereo sound inside the automobile.

Further, the method also comprises the following steps: and when the door and window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle by the in-vehicle sound player, and playing the sound data subjected to the noise reduction processing in the vehicle. The method specifically comprises the following steps: when the car door and window are locked, the noise outside the car can be picked up through the microphone, meanwhile, the microphone in the car samples the noise heard in the car, the loudspeaker is driven to generate 'anti-noise' after the noise is reversely amplified, the 'anti-noise' is used for eliminating the noise transmitted by the ear cover from the outside, and good noise cancellation effect can be obtained by only reasonably selecting the gain of the amplifier.

Further, the method also comprises the following steps: when sound features approaching vehicles in adjacent lanes are captured by analyzing sound data of the surrounding environment of the vehicles, the distance and the approaching speed of the vehicles in the adjacent lanes are analyzed by fusing side-looking camera data, and guidance is given to vehicle avoidance according to an analysis result.

The method for preventing the lane departure based on the acoustics can realize the identification of dynamic obstacles on two sides of the vehicle sound by additionally arranging the acoustics sensing on the basis of the sensing layer of the automatic driving, and has a better identification function mainly for low guardrails, walls and rumble. After the lane keeps LKA function failure, the automobile can give lane departure early warning to a driver after sound wave perception after the tire pressure reaches the lane line rumble strip. The sound characteristics of approaching of trucks on adjacent lanes are captured through sound waves, perception data are sent to the intelligent driving area controller and the side-looking camera visual data are fused, the approaching speed and distance of the trucks on the adjacent lanes are identified, and the EPS of the self-vehicle is controlled to enable the self-vehicle to make bias avoidance in the lanes.

The plane space positioning and sound sampling are carried out on the external noise through the external microphone, so that the stereophonic sound outside the automobile is reproduced by the loudspeaker in the automobile under the working condition that the window is completely closed or partially closed, the road condition outside the automobile can be easily distinguished by a driver through the stereophonic sound inside the automobile, and the driving safety is improved.

Referring to fig. 2, in the present embodiment, an embodiment of a system 200 for lane departure prevention based on acoustics is as follows:

an acoustics-based system 200 for lane departure prevention, comprising: a sound pickup 201 and a sound data analysis unit 202;

the sound pickup 201 is configured to: collecting sound data of the surrounding environment of the vehicle, and sending the sound data of the surrounding environment of the vehicle to the sound data analysis unit 202;

the sound data analysis unit 202 is configured to: analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result;

the sound pickup 201 is disposed on a side wheel arch of the vehicle. In the present embodiment, it is preferable that the sound pickup 201 is a microphone pickup, and one sound pickup 201 is provided for each side wheel arch of the vehicle. Therefore, the running sound of the four tires and the surrounding environment sound during the running process of the four tires can be collected.

An acoustics-based system 200 for lane departure prevention, comprising: a sound pickup 201 and a sound data analysis unit 202; the sound pickup 201 is configured to: collecting sound data of the surrounding environment of the vehicle, and sending the sound data of the surrounding environment of the vehicle to the sound data analysis unit 202; the sound data analysis unit 202 is configured to: analyzing the sound data of the surrounding environment of the vehicle, and judging whether the vehicle deviates according to the analysis result; the sound pickup 201 is disposed on a side wheel arch of the vehicle. By analyzing the sound data of the surrounding environment of the vehicle, even in a severe environment or when the vehicle speed is very fast, as long as the wheels run on the rumble strip, the sound is completely different, and whether the vehicle deviates can be judged immediately by identifying the sound.

Further, the sound data analysis unit 202 is further configured to: identifying whether the vehicle runs on a rumble strip according to the voice print, and estimating the vehicle speed according to the voice frequency; and if the vehicle is recognized to run on the vocal cords, giving out early warning to the vehicle according to the speed of the vehicle. In the normal running process of the vehicle, when the vehicle deviates and one side of the tire presses the rumble strip, at this time, the sound pickup 201 can recognize the rumble strip according to the voiceprint and can estimate the vehicle speed information according to the frequency of the rumble strip. And then send out early warning to the vehicle. If the tire in the left front of the vehicle is opened to the rumble strip, a vehicle right turning prompt is sent out, and different angle adjustment is carried out according to the vehicle speed. Such as: at low speed, when the left front wheel runs on the rumble strip, the cockpit gives light alarm and activates the front-view camera to monitor the road line,

when the left front wheel and the left rear wheel run on the rumble strip, the cockpit performs sound-light alarm, and meanwhile, the LKA function controls the EPs to finely adjust the vehicle to turn right.

When the left front wheel runs on the rumble strip, the cockpit gives light alarm, the front-view camera is activated to monitor the road line, when the left front wheel and the left rear wheel run on the rumble strip, the cockpit gives light alarm, the LKA function controls the EPs to finely adjust the vehicle to turn right, and the AEB function gives a smaller deceleration to reduce the vehicle speed.

The specific voiceprint recognition may be as follows: the sound signal has abundant information content, and has unique advantage under the unsuitable occasion of many vision, sense of touch, smell, and the sound detection principle is discerned the sound that the wheel face in service sent, and the voiceprint identification system based on the sound signal compares the audio frequency characteristic that extracts with the sound source of scene storehouse, can discern corresponding road conditions. Road noise generated by the driving of automobiles is directly related to different types of road surfaces with different wear conditions. Based on the tire sound obtained under normal vehicle running, the audio classifier can correctly predict the road surface type and the wheel wear condition thereof. The method can be used for collecting and analyzing road sounds collected within a certain time, and frequency domain energy spectrums in two states of congestion and unblocked are obviously different. Obvious peaks exist at the idle frequency during congestion, the steepness degree of the peaks is converted into a coefficient k, and road condition judgment is carried out based on the k value.

Furthermore, the position of the object can be judged according to the sound intensity of the object picked up by the 4 microphones. Such as: the left rear part is approached by the automobile, the sound intensity picked up by the microphone at the left rear part is the maximum, the next rear right part is the left front part. The automobile realizes the functions of listening and distinguishing positions of an automatic driving system through a microphone pickup.

Or the sound data analysis unit 202 is further configured to: analyzing the sound rebound characteristic parameters of the surrounding environment of the vehicle, and judging whether a low guardrail or a low wall exists around the vehicle according to the analysis result; the sound rebound characteristic parameters include but are not limited to: rebound sound loudness, rebound sound interval, rebound sound frequency. The method specifically comprises the following steps:

when the vehicle runs, the vehicle can emit sounds with characteristics such as air resistance, tire squeal and the like, the sounds are transmitted to the wall body and can be rebounded to a large extent, and the transverse distance between the vehicle and the wall body can be judged according to the loudness and the interval of the rebounding sounds.

And (3) identifying the guardrail: the guardrail comprises stand and horizontal pole. In the driving process, air resistance, tire squeal and other sounds with characteristics are transmitted to the upright post and the open place in sequence, and the guardrail can be identified according to the frequency of the rebound sounds.

Further, the sound data analysis unit 202 is further configured to: and when the doors and windows of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to the sound player in the vehicle for playing. The method specifically comprises the following steps: when door window locking, the sound outside the car is picked up to the microphone, through the sound outside speaker of car interior speaker and the synchronous broadcast of headrest stereo set, realizes that the interior three-dimensional surround sound outside can the real-time acquisition of tightly closing door window operating mode car. The automobile sound source pickup device is characterized in that the 4 pickup devices outside the automobile can acquire the plane space position of a sound source, the stereo sound outside the automobile is reproduced through the loudspeaker inside the automobile, and a driver can easily distinguish the road condition outside the automobile through the stereo sound inside the automobile.

Or further comprises an in-vehicle sound player, the sound data analysis unit 202 is further configured to: when the door and the window of the vehicle are identified to be closed, synchronizing the sound data of the surrounding environment of the vehicle to an in-vehicle sound player, wherein the in-vehicle sound player is used for: and carrying out noise reduction processing on the sound data of the surrounding environment of the vehicle, and playing the sound data subjected to the noise reduction processing. The method specifically comprises the following steps: when the car door and window are locked, the noise outside the car can be picked up through the microphone, meanwhile, the microphone in the car samples the noise heard in the car, the loudspeaker is driven to generate 'anti-noise' after the noise is reversely amplified, the 'anti-noise' is used for eliminating the noise transmitted by the ear cover from the outside, and good noise cancellation effect can be obtained by only reasonably selecting the gain of the amplifier.

And further, the system also comprises a side-looking camera, and when sound characteristics approaching the adjacent lane vehicles are captured by analyzing sound data of the surrounding environment of the vehicle, the distance and the approaching speed of the adjacent lane vehicles are analyzed by fusing the side-looking camera data, and guidance is given to vehicle avoidance according to an analysis result.

The system 200 for preventing lane departure based on acoustics can realize the identification of dynamic obstacles on two sides of vehicle sound by additionally arranging the acoustics perception on the basis of the perception layer of automatic driving, and has a better identification function mainly for low guardrails, walls and rumble. After the lane keeps LKA function failure, the automobile can give lane departure early warning to a driver after sound wave perception after the tire pressure reaches the lane line rumble strip. The sound characteristics of approaching of trucks on adjacent lanes are captured through sound waves, perception data are sent to the intelligent driving area controller and the side-looking camera visual data are fused, the approaching speed and distance of the trucks on the adjacent lanes are identified, and the EPS of the self-vehicle is controlled to enable the self-vehicle to make bias avoidance in the lanes.

The plane space positioning and sound sampling are carried out on the external noise through the external microphone, so that the stereophonic sound outside the automobile is reproduced by the loudspeaker in the automobile under the working condition that the window is completely closed or partially closed, the road condition outside the automobile can be easily distinguished by a driver through the stereophonic sound inside the automobile, and the driving safety is improved.

It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.