基于时间和空间融合的车道偏离预警模型

针对车辆偏离时间和车辆横向位置决策模型精确度不足的问题，基于车辆动力学原理，建立车辆运行模型，分析车辆从当前位置到接触车道边缘为止所需要的最小时间和车辆中心距离车道中心线的距离，建立基于时间和空间融合的车道偏离预警模型；运用Carsim软件对所建模型进行仿真验证，并将所建模型与TLC、DLC两种典型的预警模型的预警结果进行对比，结果表明，本文提出的预警模型可有效针对车道偏离进行预警，误差率在4%之内，精度较高。

Lane Departure Warning Model Based on Time and Space Fusion

Aiming at the problem that the accuracy of vehicle departure time and vehicle lateral position decision model is insufficient, based on the principle of vehicle dynamics, the vehicle operation model is established. The minimum time required for the vehicle from the current position to the edge of the lane and the distance between the vehicle center and the lane centerline are analyzed. And the lane departure early warning model based on time and space fusion is established. Carsim software was used to simulate and verify the built model, and the early warning results of the built model were compared with the two typical early warning models of TLC and DLC. The results showed that the early warning model proposed in this paper can effectively warn of lane departures, and the error rate within 4%, the accuracy is higher.