Method for effectively judging and recognizing vehicle travelling conditions and device thereof

The invention relates to the technical field of recognizing lane lines, particularly to a method for effectively judging and recognizing vehicle travelling conditions and a device thereof. The method comprises the following steps: obtaining external parameters through camera calibration; obtaining lane lines of an image frame; calculating entrance angles between a vehicle and the lane lines in real time, using lateral distances between wheels and the left and right lane lines, the entrance angles and self vehicle speed information to judge the vehicle travelling condition, and giving a danger early warning. The device comprises a judging and recognizing parameter obtaining unit, a judging and recognizing parameter calculating unit and a vehicle travelling condition judging and recognizing unit, which are successively connected. The method and the device have the beneficial effects that: 1. the lane lines can be accurately recognized, and detection rates of the lane lines in severe environments are high; 2. the calculating complexity is low, and the real-time performance is high; 3. the entrance angles, the lateral distances and lateral speeds are used to provide a self-adapting early warning of lane deviation, and the interference from error signals of early warnings or delay warnings can be avoided.