Travel assist apparatus and travel assist method
First Claim
1. A travel assist apparatus that performs assist of warning or support so that a departure of a subject vehicle from a traveling lane is avoided, the apparatus comprising:
- at least one processor configured to;
set the traveling lane based on a non-travelable area or a road marking to indicate a lane boundary;
change a boundary position of the lane boundary of the traveling lane such that the boundary position approaches a subject vehicle as a lane entering angle of an oncoming vehicle with respect to the traveling lane and a lane departure angle of the subject vehicle with respect to the travelling lane increases,wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle;
determine whether at least one of a distance between the subject vehicle and the boundary position or a time required until the subject vehicle arrives at the boundary position is not more than a predetermined value; and
upon an affirmative determination, perform assist of the warning or support so that the departure of the subject vehicle from the traveling lane is avoided.
1 Assignment
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Accused Products
Abstract
The present invention resides in a travel assist apparatus that performs assist of warning or support so that departure of a vehicle from a traveling lane is avoided, wherein a timing to the assist is to be performed is changed depending on a lane entering angle of an oncoming vehicle and a lane departure angle of a subject vehicle with respect to the traveling lane. Accordingly, the timing at which the assist is to be performed is changed depending on the lane entering angle of the oncoming vehicle and the lane departure angle of the subject vehicle with respect to the traveling lane. Therefore, it is possible to advance the timing at which the assist is to be performed as the possibilities is higher that the behaviors of the oncoming vehicle and the subject vehicle hinder the traveling of the subject vehicle.
34 Citations
6 Claims
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1. A travel assist apparatus that performs assist of warning or support so that a departure of a subject vehicle from a traveling lane is avoided, the apparatus comprising:
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at least one processor configured to; set the traveling lane based on a non-travelable area or a road marking to indicate a lane boundary; change a boundary position of the lane boundary of the traveling lane such that the boundary position approaches a subject vehicle as a lane entering angle of an oncoming vehicle with respect to the traveling lane and a lane departure angle of the subject vehicle with respect to the travelling lane increases, wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle; determine whether at least one of a distance between the subject vehicle and the boundary position or a time required until the subject vehicle arrives at the boundary position is not more than a predetermined value; and upon an affirmative determination, perform assist of the warning or support so that the departure of the subject vehicle from the traveling lane is avoided. - View Dependent Claims (2)
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3. A travel assist apparatus for assisting a driver to avoid a departure of a subject vehicle from a traveling lane, the travel assist apparatus comprising:
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at least one processor configured to; set the traveling lane based on a non-travelable area or a road marking to indicate a lane boundary; change a threshold value such that the threshold value increases as a sum of a lane entering angle of an oncoming vehicle with respect to the traveling lane and a departure angle of the subject vehicle with respect to the traveling lane increases, wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle; determine whether at least one of a distance between the subject vehicle and a boundary position of the lane boundary of the traveling lane or a time required until the subject vehicle arrives at the boundary position is not more than the threshold value; and upon an affirmative determination, performing assist of warning or support so that the departure of the subject vehicle from the traveling lane is avoided.
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4. A travel assist method for assisting a driver to avoid a departure of a subject vehicle from a traveling lane, the travel assist method comprising:
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setting, by at least one processor of a travel assist apparatus location at the subject vehicle, a traveling lane based on a non-travelable area or a road marking to indicate a lane boundary; changing, by the at least one processor, a boundary position of the traveling lane such that the boundary position approaches the subject vehicle as a lane entering angle of an oncoming vehicle with respect to the traveling lane and a lane departure angle of the subject vehicle with respect to the travelling lane increases, wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle; determining, by the at least one processor, whether at least one of a distance between the subject vehicle and the boundary position of the lane boundary or a time required until the subject vehicle arrives at the boundary position of the lane boundary is not more than a predetermined value; and upon an affirmative determination, performing assist of warning or support so that the departure of the subject vehicle from the traveling lane is avoided. - View Dependent Claims (5)
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6. A travel assist method for assisting a driver to avoid a departure of a subject vehicle from a traveling lane, the method comprising:
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setting, by at least one processor of a travel assist apparatus location at the subject vehicle, a traveling lane based on a non-travelable area or a road marking to indicate a lane boundary; changing, by the at least one processor, a threshold value such that the threshold value increases as a sum of a lane entering angle of an oncoming vehicle with respect to the traveling lane and a departure angle of the subject vehicle with respect to the traveling lane increases, wherein the lane departure angle of the subject vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the subject vehicle and the lane entering angle of oncoming vehicle with respect to the traveling lane is formed by the extending direction of the traveling lane and the traveling direction of the oncoming vehicle; determining whether at least one of a distance between the subject vehicle and a boundary position of the lane boundary of the traveling lane or a time required until the subject vehicle arrives at the boundary position of the lane boundary is not more than the threshold value; and upon an affirmative determination, performing assist of warning or support so that the departure of the subject vehicle from the traveling lane is avoided.
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Specification