Lane Departure Warning Apparatus and Lane Departure Warning System
First Claim
1. A lane departure warning apparatus for outputting a warning signal upon determining departure of a vehicle from a lane, performing the steps of:
- when one dividing line out of a pair of dividing lines positioned on both sides of a vehicle width direction of the vehicle is not detected, estimating a position of the one dividing line based on a position of the other dividing line as a first estimation dividing line;
estimating the non-detected one dividing line based on a position of the one dividing line prior to non-detection as a second estimation dividing line; and
comparing the first estimation dividing line with the second estimation dividing line to determine whether or not the vehicle departs from the lane.
1 Assignment
0 Petitions
Accused Products
Abstract
There is provided a lane departure warning apparatus capable of preventing false warnings and absence of a warning regarding lane departure which is attributed to special road geometries such as junctions and tollgates. The lane departure warning apparatus for outputting a warning signal upon determining departure of a vehicle from a lane, performing the steps of: when one dividing line in a vehicle width direction of the vehicle is non-detected, estimating a position of the one dividing line based on a position of the other dividing line as a first estimation dividing line; estimating a position of the non-detected one dividing line based on a position of the one dividing line prior to non-detection as a second estimation dividing line; and comparing the first estimation dividing line with the second estimation dividing line to determine lane departure.
47 Citations
18 Claims
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1. A lane departure warning apparatus for outputting a warning signal upon determining departure of a vehicle from a lane, performing the steps of:
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when one dividing line out of a pair of dividing lines positioned on both sides of a vehicle width direction of the vehicle is not detected, estimating a position of the one dividing line based on a position of the other dividing line as a first estimation dividing line; estimating the non-detected one dividing line based on a position of the one dividing line prior to non-detection as a second estimation dividing line; and comparing the first estimation dividing line with the second estimation dividing line to determine whether or not the vehicle departs from the lane. - View Dependent Claims (2, 18)
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3. A lane departure warning apparatus for determining whether or not a vehicle departs from a lane based on images of outside of the vehicle picked up during travel with an image pickup device which picks up images of the outside of the vehicle and outputting a warning signal upon determination of departure, comprising:
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a dividing line detection section for detecting dividing lines of a lane on which the vehicle is travelling based on the images; a dividing line position storage section for storing positions of the dividing lines detected by the dividing line detection section; a dividing line position estimation section for estimating, when one dividing line out of a pair of dividing lines positioned on both sides of a vehicle width direction of the vehicle is non-detected, the one dividing line based on a position of the other dividing line as a first estimation dividing line, estimating the non-detected one dividing line as a second estimation dividing line based on a position of the one dividing line prior to non-detection stored in the dividing line position storage section, and comparing a position of the first estimation dividing line with a position of the second estimation dividing line to select either one of the first estimation dividing line and the second estimation dividing line as an estimation dividing line for departure determination; and a departure determination section for determining whether or not the vehicle departs from the lane based on a position of the estimation dividing line for departure determination selected by the dividing line position estimation section. - View Dependent Claims (4, 5, 6, 7, 8)
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9. A lane departure warning apparatus for determining whether or not a vehicle departs from a lane based on images of outside of the vehicle picked up during travel with an image pickup device which picks up images of the outside of the vehicle and outputting a warning signal upon determination of departure, comprising:
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a dividing line detection section for detecting dividing lines of a lane on which the vehicle is travelling based on the images; a dividing line position storage section for storing positions of the dividing lines detected by the dividing line detection section; a dividing line position estimation section for estimating an estimation dividing line for departure determination based on the position of the dividing line stored in the dividing line position storage section in the case where an amount of change in a parameter representing a turn of the vehicle in a specified travel distance or a specified period of time is smaller than a preset first threshold and an amount of change in a clearance between the dividing line detected by the dividing line detection section and the vehicle is equal to or larger than a preset second threshold; and a departure determination section for determining whether or not the vehicle departs from the lane based on a position of the estimation dividing line for departure determination estimated by the dividing line position estimation section. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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Specification