Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same
First Claim
1. An apparatus for estimating of deviation from a lane comprising course prediction means for predicting course of a host vehicle in future, driving lane recognition means for recognizing a driving lane on which the host vehicle is running, and deviation estimating means for estimating a possibility that the host vehicle will deviate from the driving lane on the basis of a relation between the predicted future course of the host vehicle and the recognized driving lane,the apparatus further comprising:
- yaw angle detector for determining a yaw angle of the host vehicle relative to the recognized driving lane;
lateral position detector for determining a lateral position of the host vehicle on the recognized driving lane; and
prohibiting means for prohibiting the deviation estimating means from estimating the possibility of the deviation from the lane when an absolute value of the determined yaw angle is less than a predetermined threshold and when a distance between the determined lateral position and a center line of the driving lane is less than a predetermined threshold.
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Accused Products
Abstract
An apparatus for warning deviation from a lane has a deviation evaluation ECU 1. The deviation evaluation ECU 1 has a deviation evaluator 14 for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor 13 determines whether a yaw angle of the host vehicle and a lateral position of the vehicle relative to a driving lane exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor 13 performs a mask process, without performing the deviation evaluation. A deviation evaluator 14 performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.
24 Citations
8 Claims
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1. An apparatus for estimating of deviation from a lane comprising course prediction means for predicting course of a host vehicle in future, driving lane recognition means for recognizing a driving lane on which the host vehicle is running, and deviation estimating means for estimating a possibility that the host vehicle will deviate from the driving lane on the basis of a relation between the predicted future course of the host vehicle and the recognized driving lane,
the apparatus further comprising: -
yaw angle detector for determining a yaw angle of the host vehicle relative to the recognized driving lane; lateral position detector for determining a lateral position of the host vehicle on the recognized driving lane; and prohibiting means for prohibiting the deviation estimating means from estimating the possibility of the deviation from the lane when an absolute value of the determined yaw angle is less than a predetermined threshold and when a distance between the determined lateral position and a center line of the driving lane is less than a predetermined threshold. - View Dependent Claims (2, 3, 4)
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5. A method for estimating of deviation from a lane comprises the steps of predicting a course of a host vehicle in future, recognizing a driving lane on which the host vehicle is running, and estimating a possibility that the host vehicle will deviate from the driving lane on the basis of a relation between the predicted course of the host vehicle and the recognized driving lane,
the method further comprising the steps of: -
determining a yaw angle of the host vehicle relative to the recognized driving lane; determining a lateral position of the host vehicle on the recognized driving lane; and prohibiting the estimation on the possibility of the deviation when an absolute value of the determined yaw angle is less than a predetermined threshold and when a distance between the determined lateral position and a center line of the driving lane is less than a predetermined threshold. - View Dependent Claims (6, 7, 8)
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Specification