PROBLEM TO BE SOLVED: To provide a lane departure determination in which a surplus time for coping with lane departure becomes proper in travel of an own vehicle.SOLUTION: There is provided a vehicle lane departure determination method for determining whether or not, the own vehicle which is traveling departs from a travel lane, comprising: maximum lateral movement amount calculation steps S3-S5; a lane departure threshold setting step S6; and a lane departure determination step S8. In the maximum lateral movement amount calculation steps S3-S5, a maximum lateral movement amount Δy* which may occur on the own vehicle which is traveling is calculated based on vehicle speed information and yaw rate information. In the lane departure threshold setting step S6, a lane departure threshold y* using the calculated maximum lateral movement amount Δy*, is set. In the lane departure determination step S8, when the lateral position information of the own vehicle which is traveling becomes equal to or more than the lane departure threshold y*, it is determined that lane departure occurred.SELECTED DRAWING: Figure 2
【課題】自車両の走行中、レーン逸脱対応の余裕時間が適切になるレーン逸脱判定を実現すること。【解決手段】走行中の自車両が走行レーンを逸脱するかどうかを判定する車両のレーン逸脱判定方法において、最大横移動量算出ステップS3〜S5と、レーン逸脱閾値設定ステップS6と、レーン逸脱判定ステップS8と、を有する。最大横移動量算出ステップS3〜S5は、車速情報とヨーレート情報に基づいて、走行中の自車両に発生し得る最大横移動量Δy*を算出する。レーン逸脱閾値設定ステップS6は、算出された最大横移動量Δy*を用いてレーン逸脱閾値y*を設定する。レーン逸脱判定ステップS8は、走行中の自車両の横位置情報が、レーン逸脱閾値y*以上になるとレーン逸脱と判定する。【選択図】図2
VEHICLE LANE DEPARTURE DETERMINATION METHOD AND LANE DEPARTURE DETERMINATION DEVICE
車両のレーン逸脱判定方法とレーン逸脱判定装置
2018-03-08
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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