Vehicle departure detecting device
First Claim
1. A vehicle deviation determining apparatus comprising:
- traffic lane detecting means for detecting a traffic lane of a road on which a host vehicle is driving;
deviation determining means for determining whether the host vehicle will deviate from the traffic lane, based on a positional relation between the traffic lane and the host vehicle; and
means for detecting a vehicle speed,wherein the traffic lane detecting means detects the traffic lane at a predetermined position, and wherein when a change amount per predetermined time of a lane width of the detected traffic lane exceeds a threshold, the traffic lane detecting means sets a lane width in the traffic lane so that the change amount does not exceed the threshold,wherein the deviation determining means determines whether the host vehicle will deviate from the traffic lane, based on the lane width thus set, andwherein the traffic lane detecting means sets the threshold larger at a high vehicle speed than at a low vehicle speed.
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Accused Products
Abstract
Lane width information Winf acquired by a traffic lane detector is retrieved (step S1); when a value of the lane width information Winf is within a predetermined range of change amount relative to a lane width output Wout_old at a previous time step, i.e., not less than (Wout_old+Wdec) nor more than (Wout_old+Winc), Winf is used directly as the lane width output Wout (steps S5→S9→S11→S8); when the value of lane width information Winf is off the predetermined range, i.e., less than (Wout_old+Wdec), (Wout_old+Wdec) is outputted as the lane width output value Wout (steps S5→S9→S10→S8); when the value of lane width information Winf exceeds (Wout_old+Winc), (Wout_old+Winc) is outputted as the lane width output Wout (steps S5→S6→S8).
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Citations
8 Claims
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1. A vehicle deviation determining apparatus comprising:
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traffic lane detecting means for detecting a traffic lane of a road on which a host vehicle is driving; deviation determining means for determining whether the host vehicle will deviate from the traffic lane, based on a positional relation between the traffic lane and the host vehicle; and means for detecting a vehicle speed, wherein the traffic lane detecting means detects the traffic lane at a predetermined position, and wherein when a change amount per predetermined time of a lane width of the detected traffic lane exceeds a threshold, the traffic lane detecting means sets a lane width in the traffic lane so that the change amount does not exceed the threshold, wherein the deviation determining means determines whether the host vehicle will deviate from the traffic lane, based on the lane width thus set, and wherein the traffic lane detecting means sets the threshold larger at a high vehicle speed than at a low vehicle speed. - View Dependent Claims (2, 3, 4)
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5. A vehicle deviation determining apparatus comprising:
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traffic lane detector that detects a traffic lane ahead a host vehicle; deviation determiner that determines whether the host vehicle will deviate from the traffic lane, based on a positional relation between the traffic lane and the host vehicle; and vehicle speed detector that detects a vehicle speed of the host vehicle, wherein when a change amount per predetermined time of a lane width of the detected traffic lane exceeds a threshold, die traffic lane detector sets a lane width of the traffic lane so that the change amount does not exceed the threshold, wherein the deviation determiner determines whether the host vehicle will deviate from the traffic lane, based on the lane width thus set, and wherein the traffic lane detector sets the threshold larger at a high vehicle speed than at a low vehicle speed. - View Dependent Claims (6, 7, 8)
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Specification