Lane-keep assisting system for vehicle
First Claim
Patent Images
1. A system for assisting a lane-keep traveling of a vehicle, comprising:
- a road image detector taking a view ahead of the vehicle;
a vehicle behavior detector detecting a behavior of the vehicle; and
a controller coupled to the road image sensor and the vehicle behavior detector, the controller being arranged, to calculate a road shape on the basis of the view taken by the road image detector, to calculate a target turn indicative value indicative of a target turn for reaching the vehicle to a target position, on the basis of the road shape detected, to calculate an actual turn indicative value indicative of an actual turn of the vehicle, and to determine whether the vehicle approaches a lane boundary of a traveling lane, on the basis of the target turn indicative value and the actual turn indicative value.
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Abstract
A system for assisting a lane-keep traveling of a vehicle is comprised of a camera for detecting a view ahead of the vehicle, a vehicle behavior detector including a vehicle speed sensor and a yaw rate sensor, and a controller. The controller is arranged to estimate a road shape on the basis of lane markers detected by the camera, to detect a target yaw rate necessary to return the vehicle at a center of the lane markers, and to determine that there is a possibility that the vehicle deviates from the lane when a difference between the target yaw rate and an actual yaw rate detected by the yaw rate sensor becomes greater than a threshold.
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Citations
15 Claims
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1. A system for assisting a lane-keep traveling of a vehicle, comprising:
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a road image detector taking a view ahead of the vehicle;
a vehicle behavior detector detecting a behavior of the vehicle; and
a controller coupled to the road image sensor and the vehicle behavior detector, the controller being arranged, to calculate a road shape on the basis of the view taken by the road image detector, to calculate a target turn indicative value indicative of a target turn for reaching the vehicle to a target position, on the basis of the road shape detected, to calculate an actual turn indicative value indicative of an actual turn of the vehicle, and to determine whether the vehicle approaches a lane boundary of a traveling lane, on the basis of the target turn indicative value and the actual turn indicative value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A lane deviation determining system of a vehicle comprising:
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road shape detecting means for detecting a shape of a road ahead of the vehicle;
target turn detecting means for detecting a value indicative of a target turn necessary for reaching the vehicle to a target position on the basis of the road shape detected;
actual turn detecting means for detecting a value indicative of an actual turn of the vehicle; and
lane deviation determining means for determining that the vehicle tends to deviate from a traveling lane on the basis of the target turn indicative value and the actual turn indicative value.
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15. A method for assisting a lane keep traveling of a vehicle, the method comprising:
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taking a view ahead of the vehicle;
detecting a behavior of the vehicle;
calculating a road shape on the basis of the view;
calculating a target turn indicative value indicative of a target turn for reaching the vehicle to a target position, on the basis of the road shape calculated;
calculating an actual turn indicative value indicative of an actual turn of the vehicle on the basis of the behavior of the vehicle; and
determining whether the vehicle approaches a lane boundary of a traveling lane, on the basis of the target turn indicative value and the actual turn indicative value.
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Specification