Lane departure prevention support apparatus, method of displaying a lane boundary line and program
First Claim
1. A lane departure prevention support apparatus, comprising:
- an imaging device configured to capture an image of a lane boundary sign which defines a lane in which a vehicle is traveling;
a display apparatus configured to recognize the lane boundary sign from captured image data and display the lane boundary sign according to a recognition result and a host vehicle position; and
a vehicle position detecting part configured to detect the host vehicle position within the traveling lane, whereinthe lane departure prevention support apparatus is configured to prevent a departure from the traveling lane,wherein the display apparatus is configured such thatunder a status in which the lane boundary sign is not recognized, if the host vehicle is closer to one lane boundary sign of left and right lane boundary signs of the traveling lane and another lane boundary sign of the traveling lane is unrecognized, the display apparatus indicates a status in which the lane boundary signs are recognized, andunder the status in which the lane boundary sign is not recognized, if the host vehicle is not closer to one lane boundary sign of the left and the right lane boundary signs of the traveling lane, the display apparatus indicates a status in which the lane boundary sign is not recognized.
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Accused Products
Abstract
A lane departure prevention support apparatus comprises: imaging means for capturing an image of a lane boundary line which defines a traveling lane; vehicle position detecting means for recognizing the lane boundary line in a recognition area of captured image data to detect a host vehicle position within the traveling lane in a width direction; assisting means for performing driver assist using the recognition result of the lane boundary line; displaying means for displaying the recognition result of the lane boundary line; and recognition result display controlling means for displaying an unrecognized lane boundary line according to the host vehicle position, if one of left and right white lines is not recognized, wherein a display of the unrecognized lane boundary line is not such a display which indicates that the lane boundary line is not recognized.
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Citations
11 Claims
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1. A lane departure prevention support apparatus, comprising:
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an imaging device configured to capture an image of a lane boundary sign which defines a lane in which a vehicle is traveling; a display apparatus configured to recognize the lane boundary sign from captured image data and display the lane boundary sign according to a recognition result and a host vehicle position; and a vehicle position detecting part configured to detect the host vehicle position within the traveling lane, wherein the lane departure prevention support apparatus is configured to prevent a departure from the traveling lane, wherein the display apparatus is configured such that under a status in which the lane boundary sign is not recognized, if the host vehicle is closer to one lane boundary sign of left and right lane boundary signs of the traveling lane and another lane boundary sign of the traveling lane is unrecognized, the display apparatus indicates a status in which the lane boundary signs are recognized, and under the status in which the lane boundary sign is not recognized, if the host vehicle is not closer to one lane boundary sign of the left and the right lane boundary signs of the traveling lane, the display apparatus indicates a status in which the lane boundary sign is not recognized. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A lane departure prevention method, comprising:
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capturing an image of a lane boundary sign which defines a traveling lane in which a host vehicle is traveling; recognizing the lane boundary sign from captured image data, detecting a host vehicle position within the traveling lane; under a status in which the lane boundary sign is not recognized, indicating a status in which the lane boundary signs are recognized, if the host vehicle is closer to one lane boundary sign of left and right lane boundary signs of the traveling lane and another lane boundary sign of the traveling lane is unrecognized, under a status in which the lane boundary sign is not recognized, indicating a status in which the lane boundary sign is not recognized, if the host vehicle is not closer to one lane boundary sign of the left and the right lane boundary signs of the traveling lane; and preventing a departure of the host vehicle from the traveling lane according to the host vehicle position.
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11. A non-transitory recording medium on which a program is stored for causing a computer to
capture an image of a lane boundary sign which defines a traveling lane in which a host vehicle is traveling; -
recognize the lane boundary sign from captured image data, detect a host vehicle position within the traveling lane; under a status in which the lane boundary sign is not recognized, indicate a status in which the lane boundary signs are recognized, if the host vehicle is closer to one lane boundary sign of left and right lane boundary signs of the traveling lane and another lane boundary sign of the traveling lane is unrecognized, under a status in which the lane boundary sign is not recognized, indicate a status in which the lane boundary sign is not recognized, if the host vehicle is not closer to one lane boundary sign of the left and the right lane boundary signs of the traveling lane; and prevent a departure of the host vehicle from the traveling lane according to the host vehicle position.
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Specification