Automotive lane deviation prevention apparatus
First Claim
1. An automotive lane deviation prevention (LDP) apparatus comprising:
- a processor programmed to perform the following, (a) detecting a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) determining, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(c) executing LDP control by which the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(d) determining whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area; and
(e) executing, based on a detection result regarding whether the host vehicle is in the third state and the detection result regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in the lane-marking non-detecting state.
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Accused Products
Abstract
An automotive lane deviation prevention (LDP) apparatus includes a control unit connected to a yawing-motion control actuator for LDP control purposes. The control unit determines, based on information regarding a lane marking line detected based on a picture image in front of a host vehicle, whether the host vehicle is in a state FLD≠0 where there is an increased tendency for the host vehicle to deviate from the driving lane. The control unit executes, based on a state Fdw≠0 where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line and the information regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state Fcamready=0 where the lane marking line is out of an image pick-up enabling area.
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Citations
17 Claims
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1. An automotive lane deviation prevention (LDP) apparatus comprising:
a processor programmed to perform the following, (a) detecting a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) determining, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(c) executing LDP control by which the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(d) determining whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area; and
(e) executing, based on a detection result regarding whether the host vehicle is in the third state and the detection result regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in the lane-marking non-detecting state.
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2. An automotive lane deviation prevention (LDP) apparatus comprising:
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a lane marking detector that detects a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
an actuator capable of variably adjusting a yawing motion of the host vehicle;
a control unit configured to be electronically connected to the lane marking detector and the actuator for vehicle yawing motion control and LDP control purposes;
the control unit comprising;
(a) a lane-deviation tendency detection section that determines, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(b) an LDP control section that executes the LDP control by which the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(c) a road-surface irregularities detection section (S4-S5) that determines whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line; and
(d) a vehicle yawing motion control section that executes, based on a detection result of the road-surface irregularities detection section and the detection result of the lane-deviation tendency detection section, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An automotive lane deviation prevention (LDP) apparatus comprising:
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a lane marking detection means for detecting a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
a yawing-motion control actuator capable of variably adjusting a yawing motion of the host vehicle;
a control unit configured to be electronically connected to the lane marking detection means and the yawing-motion control actuator for vehicle yawing motion control and LDP control purposes;
the control unit comprising;
(a) lane-deviation tendency detection means for determining, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(b) LDP control means for executing the LDP control by which the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(c) road-surface irregularities detection means for determining whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line; and
(d) vehicle yawing motion control means for executing, based on a detection result of the road-surface irregularities detection means and the detection result of the lane-deviation tendency detection means, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area.
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16. A method of preventing lane deviation of a host vehicle employing braking force actuators that adjust braking forces applied to respective road wheels, the method comprising:
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(a) detecting a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) determining, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(c) executing lane deviation prevention control by feedback-controlling the braking forces applied to the road wheels so that the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(d) determining whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area; and
(e) executing, based on a detection result regarding whether the host vehicle is in the third state and the detection result regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in the lane-marking non-detecting state.
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17. A method of preventing lane deviation of a host vehicle employing a steering actuator that adjusts a steering torque applied to a steering wheel, the method comprising:
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(a) detecting a lane marking line on a driving lane of a host vehicle, based on a picture image in front of the host vehicle;
(b) determining, based on a detection result regarding the lane marking line, whether the host vehicle is in a first state where there is an increased tendency for the host vehicle to deviate from the driving lane or in a second state where there is a less tendency for the host vehicle to deviate from the driving lane;
(c) executing lane deviation prevention control by feedback-controlling the steering torque applied to the steering wheel so that the host vehicle'"'"'s lane deviation tendency is avoided, when the host vehicle is in the first state;
(d) determining whether the host vehicle is in a third state where the host vehicle is traveling on predetermined irregularities formed on or close to the lane marking line, in a lane-marking non-detecting state where the lane marking line is out of an image pick-up enabling area; and
(e) executing, based on a detection result regarding whether the host vehicle is in the third state and the detection result regarding the lane marking line, vehicle yawing motion control by which the host vehicle returns to a central position of the driving lane, in the lane-marking non-detecting state.
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Specification