Driving support apparatus and driving support method
First Claim
1. A driving support apparatus that performs a driving support for causing a vehicle to travel in a lane, the driving support apparatus comprising:
- an image taking section configured to take an image of a road surface which is travelled upon and is in front of the vehicle;
an image processing section configured to detect a lane dividing line on the road surface, which is travelled upon, by using the image taken by the image taking section, and set a virtual lane dividing line in a section of the road surface in which no lane dividing line is detected;
a support section configured to perform the driving support by controlling the vehicle so as to prevent the vehicle from deviating from a lane defined by at least one of the lane dividing line and the virtual lane dividing line; and
a warning section configured to issue a warning when it is determined that the vehicle is likely to deviate from the defined lane;
whereinwhen the support section is in operation, the warning section is actuated when it is determined that the vehicle is likely to deviate from the virtual lane dividing line, andwhen the support section is not in operation, the warning section is not actuated when it is determined that the vehicle is likely to deviate from the virtual lane dividing line, and the warning section does not output a warning even when a front wheel of the vehicle reaches the virtual lane dividing line.
2 Assignments
0 Petitions
Accused Products
Abstract
A driving support ECU 1 detects for a lane dividing line on a road surface which is travelled upon, by using an image which is taken by a camera 2 and which represents the road surface which is traveled upon and is in front of a vehicle, sets a virtual lane dividing line in a section in which no lane dividing line is drawn, performs a driving support by controlling the vehicle based on the lane dividing line and the virtual lane dividing line, and issues a warning when the vehicle deviates from the virtual lane dividing line. Further, the driving support ECU 1 detects a state of the vehicle, calculates information indicating the state as vehicle information, cancels the driving support when the vehicle information satisfies a predetermined cancel condition, and inhibits the warning when the driving support is canceled.
24 Citations
5 Claims
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1. A driving support apparatus that performs a driving support for causing a vehicle to travel in a lane, the driving support apparatus comprising:
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an image taking section configured to take an image of a road surface which is travelled upon and is in front of the vehicle; an image processing section configured to detect a lane dividing line on the road surface, which is travelled upon, by using the image taken by the image taking section, and set a virtual lane dividing line in a section of the road surface in which no lane dividing line is detected; a support section configured to perform the driving support by controlling the vehicle so as to prevent the vehicle from deviating from a lane defined by at least one of the lane dividing line and the virtual lane dividing line; and a warning section configured to issue a warning when it is determined that the vehicle is likely to deviate from the defined lane; wherein when the support section is in operation, the warning section is actuated when it is determined that the vehicle is likely to deviate from the virtual lane dividing line, and when the support section is not in operation, the warning section is not actuated when it is determined that the vehicle is likely to deviate from the virtual lane dividing line, and the warning section does not output a warning even when a front wheel of the vehicle reaches the virtual lane dividing line. - View Dependent Claims (2, 3, 4, 5)
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Specification