Method and device for warning a driver of lane departure

• US 7,424,364 B2
• Filed: 05/31/2005
• Issued: 09/09/2008
• Est. Priority Date: 06/02/2004
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Woltermann, Bernd, Moebus, Rainer, Gern, Axel, Zomotor, Zoltan, Oltmann, Volker
• Primary Examiner(s): Black; Thomas G.
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US11/141,158
• Publication Number:
  US 20050273264A1
• Time in Patent Office: 1,197 Days
• Field of Search: 701/301, 701/200, 340/435, 340/436, 340/903, 340/837
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2540/00 Input parameters relating to occupants
• CPC Class Codes: B60W 2540/22 Psychological state; Stress level or workload
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system

Abstract

A method and device for warning a driver of lane departure, wherein a first analyzer is used to detect the vehicle'"'"'s lane departure based on image data and/or vehicle data and/or driver activity. The driver then receives a warning as a function of the detection by the first analyzer. In addition, a second analyzer for evaluating the driving situation is provided, which either performs the evaluation of the driving situation after the detection and via which the warning is suppressed as a function of the evaluation, or which alternatively performs an evaluation of the driving situation before the detection and via which a detection of lane departure is suppressed as a function of the evaluation. As a result, the driver receives highly reliable warnings of lane departure, and furthermore thanks to the evaluation of the driving situation erroneous warnings may be recognized highly reliably and as a result suppressed, so that the driver is not distracted unnecessarily and the product enjoys a high acceptance level among users.

Claims

1. A method for warning a driver of a vehicle of lane departure, the method comprising:

detecting lane departure by the vehicle using a first analyzer based on at least one of image data, vehicle data, and driver activity;

issuing a warning to the driver as a function of the detection using the first analyzer;

evaluating a driving situation using a second analyzer before or after the detecting, wherein when the evaluating is performed after the detecting, the second analyzer carries out a suppression of the warning as a function of the evaluation, and wherein when the evaluating is performed before the detecting, the second analyzer suppresses a detection of lane departure as a function of the evaluation.

2. The method as recited in claim 1, further comprising detecting for driver activity and wherein the warning or detection is suppressed if driver activity is detected during a predefined time period prior to the evaluating.

3. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of one of a type and a degree of driver activity.

4. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of one of a vehicle speed and a relative vehicle speed relative to other vehicles.

5. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of one of detected lane markings and a lane width.

6. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of one of a surrounding condition and a time of day.

7. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of one of a type of road and a map data.

8. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of an object located in the vicinity of the vehicle.

9. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of a driver type classification.

10. The method as recited in claim 2, further comprising specifying the predetermined time period as a function of an elapsed time since a previous warning.

11. The method as recited in claim 1, wherein the warning or detection is suppressed if a specified length of time has not elapsed since an intervention by an Electronic Stability Program (ESP).

12. The method as recited in claim 1, wherein the warning or detection is suppressed if the vehicle speed is outside a predefined speed range.

13. The method as recited in claim 1, further comprising detecting for driver activity and wherein the warning or detection is not suppressed if no driver activity is detected during a predefined time period prior to the evaluating.

14. The method as recited in claim 13, wherein the warning or detection is not suppressed if the driver is distracted from the task of assessing the driving situation during the predetermined time period.

15. The method as recited in claim 1, wherein the warning or detection is suppressed if an angle between the vehicle'"'"'s direction of travel and one of the path of the lane and the steering angle exceeds a predefined value.

16. The method as recited in claim 1, further comprising suppressing the warning or detection if, following a warning or a suppressed warning or detection, the vehicle moves towards the middle of the lane and is not less than a predefined distance from the middle of the lane.

17. The method as recited in claim 1, wherein the warning or detection is suppressed if the vehicle is in the vicinity of a bifurcation and receives instructions from a route guidance system to modify the direction of travel at the bifurcation.

18. The method as recited in claim 1, wherein the warning or detection is suppressed if a plurality of lane markings is detected within a predefined lane width.

19. The method as recited in claim 1, wherein the warning or detection is suppressed if the vehicle is negotiating an S-bend.

20. The method as recited in claim 1, wherein the warning or detection is suppressed if the vehicle is in a built-up area.

21. The method as recited in claim 1, wherein the warning or detection is suppressed if suitable lane information is not available or the quality of image-based lane recognition is below a predefined threshold value.

22. The method as recited in claim 1, wherein the warning or detection is not performed if the driver switches to an adjacent lane and herein crosses a broken-line lane marking.

23. The method as recited in claim 1, wherein the warning or detection is not suppressed if the driver performs a double change of lane, thereby crossing two broken-line lane markings in succession and without performing substantial steering activity therebetween.

24. The method as recited in claim 1, wherein the warning or detection is not suppressed if the driver does not perform sufficient steering activity within a predefined time period to return to the lane after having crossed a continuous lane marking on a curve.

25. A device for warning a driver of a vehicle of lane departure, comprising:

a first analyzer configured to detect lane departure by a vehicle based on at least one of image data, vehicle data, and driver activity, and to issue a warning to the driver as a function of the detection;

a second analyzer configured to perform an evaluation of a driving situation of the vehicle before or after the detection, and wherein the second analyzer is configured to suppress the warning as a function of the evaluation when the evaluation is performed after the detection and wherein the second analyzer is configured to suppress the detection as a function of the evaluation when the evaluation is performed before the detection.