JP2008059324A5 - - Google Patents

Claims (9)

Lane detection means for detecting a lane marked on the road;
Traveling locus estimation means for estimating the traveling locus of the host vehicle based on the behavior of the host vehicle;
An interval detecting means for detecting an interval between the travel locus and the lane on a predetermined distance in front of the host vehicle;
Interval estimation means for calculating an estimated value of the interval after a certain time from the current time based on a temporal change of data in the past predetermined time of the interval;
A determination means for comparing the estimated value of the interval and a threshold value for the interval to determine the possibility of lane departure of the host vehicle ,
The interval estimation means calculates an estimated value of the interval after a certain time from a current time based on a function approximating a temporal change of data within a predetermined time in the past of the interval,
The determination means does not determine the possibility of lane departure of the host vehicle when the variance of past data of the interval with respect to the approximate function is equal to or greater than a preset threshold relating to variance. Lane departure judging device. The approximation is lane departure determination apparatus according to claim 1, characterized in that a linear function or a quadratic function. Said determining means, when the past data of the interval is not recorded more than the amount that has been set in advance, according to claim 1, characterized in that said not performed determination of possibility of lane departure of the host vehicle or The lane departure judging device according to claim 2 . The interval estimation unit clears past data of the interval when the position of the lane detected by the lane detection unit changes by a predetermined amount or more with respect to the position of the lane detected by the previous detection. The lane departure determination apparatus according to any one of claims 1 to 3 , wherein an interval after a certain time from the current time is not estimated. Threshold for the interval claims 1 to 4, characterized in that the speed of the vehicle is variable depending on the speed of the vehicle so as to decrease when larger the vehicle speed is low is higher The lane departure judging device according to any one of the above. The interval detection means detects the interval between the travel locus and the lane on a plurality of different predetermined distances in front of the host vehicle,
The interval estimation means calculates an estimated value of the interval after a predetermined time from the current time, based on a temporal change of data within a predetermined time in the past over the plurality of predetermined distances. ,
The determination means of claims 1 to 5, characterized in that the vehicle when the estimated value of the interval is equal to or less than the threshold value for all the intervals is determined that there is a possibility to deviate from the lane The lane departure judging device according to any one of the above. The lane departure determination apparatus according to any one of claims 1 to 6 , wherein the predetermined distance is constant regardless of a vehicle speed of the host vehicle. The plurality of predetermined distances correspond to a preset vehicle speed range so that the distance between the predetermined distances is wide in a high speed range and the distance between the predetermined distances is narrow in a low speed range. The lane departure judging device according to claim 6 , wherein the lane departure judging device is switched and is constant within the range of the vehicle speed. A lane departure judging device according to any one of claims 1 to 8 ,
An automatic steering device for automatically steering the steering wheel of the host vehicle by setting a target rudder angle according to an output from the lane departure determination device;
A steering angle detection means for measuring a steering angle of a steering wheel connected to the automatic steering device,
The automatic steering device includes a time until the actual steering wheel automatic steering is started after reception of the determination result from the lane departure determination device, and a rate of change of the past steering angle measured by the steering angle detection means. When the steering angle calculated based on is steered in the direction of avoiding lane departure from the target steering angle, automatic steering of the steering wheel of the host vehicle is stopped. Lane departure avoidance system.