A travel lane line determining unit determines a travel lane line to be used based on a predetermined selection criterion, from among the travel lane lines. A determining unit determines whether or not the own vehicle is going to depart from the travel lane line based on the determined travel lane line. A departure preventing unit outputs an alarm or controls steering of the own vehicle towards a direction in which the departure is avoided, when determined that the own vehicle is going to depart from the travel lane line. A parallel-driving control unit controls steering of the own vehicle such that the own vehicle travels along the determined travel lane line. The selection criterion determines a travel lane line from the travel lane lines which do not correspond to a predetermined exclusion condition, according to an execution state of the departure preventing unit or the parallel-driving control unit.
LANE LINE DEPARTURE PREVENTION APPARATUS
2015-12-31
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |