KR100941271B1 - 자동차용 차선이탈 방지 방법 - Google Patents
자동차용 차선이탈 방지 방법 Download PDFInfo
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- KR100941271B1 KR100941271B1 KR1020070031198A KR20070031198A KR100941271B1 KR 100941271 B1 KR100941271 B1 KR 100941271B1 KR 1020070031198 A KR1020070031198 A KR 1020070031198A KR 20070031198 A KR20070031198 A KR 20070031198A KR 100941271 B1 KR100941271 B1 KR 100941271B1
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- South Korea
- Prior art keywords
- distance
- vehicle
- lane departure
- lane
- calculated
- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000002265 prevention Effects 0.000 title description 10
- 238000013507 mapping Methods 0.000 claims abstract description 13
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 206010041349 Somnolence Diseases 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
Abstract
Description
Claims (4)
- 양쪽 사이드 미러에 설치된 카메라에 의해 입력되는 후측방의 좌우 영상으로부터 추출되는 차선을 3차원 매핑하여 차선의 실좌표를 구하고, 이 차선의 실좌표로 이루어진 직선과 차체의 방향선이 교차하는 점에서의 좌우 방향각 및 차량과 차선의 실좌표로 이루어진 직선사이의 좌우 측면거리를 산출한후, 상기 산출된 방향각 및 측면거리의 기하학적 분석에 의해 차선 이탈거리를 산출하여 차선 이탈거리에 따라 운전자에게 경보하되,상기 차선 이탈거리는 이하의 식에 방향각(θ)과 측면거리(L)를 입력하여 산출하는 것을 특징으로 하는 자동차용 차선이탈 방지 방법.
- 청구항 1에 있어서, 상기 산출된 차선 이탈거리와 차속센서에 의해 감지되는 차량속도로부터 이탈시간을 산출하여 이탈시간이 기준값 이하인 경우 경보하는 단계를 더 포함하는 것을 특징으로 하는 자동차용 차선이탈 방지 방법.
- 삭제
- 청구항 1에 있어서, 상기 방향각과 측면거리는 차량헤드의 좌측 편향시 좌측 방향각과 좌측면거리를 입력하고, 우측 편향시 우측 방향각과 우측면거리를 입력하는 것을 특징으로 하는 자동차용 차선이탈 방지 방법.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070031198A KR100941271B1 (ko) | 2007-03-30 | 2007-03-30 | 자동차용 차선이탈 방지 방법 |
DE102007054067A DE102007054067A1 (de) | 2007-03-30 | 2007-11-13 | Verfahren zum Verhindern einer Fahrspurabweichung zum Gebrauch bei Fahrzeugen |
JP2007305565A JP5229451B2 (ja) | 2007-03-30 | 2007-11-27 | 自動車用車線離脱防止方法 |
US12/006,307 US7746221B2 (en) | 2007-03-30 | 2008-01-02 | Method for preventing lane departure for use with vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020070031198A KR100941271B1 (ko) | 2007-03-30 | 2007-03-30 | 자동차용 차선이탈 방지 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20080088675A KR20080088675A (ko) | 2008-10-06 |
KR100941271B1 true KR100941271B1 (ko) | 2010-02-11 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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KR1020070031198A KR100941271B1 (ko) | 2007-03-30 | 2007-03-30 | 자동차용 차선이탈 방지 방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7746221B2 (ko) |
JP (1) | JP5229451B2 (ko) |
KR (1) | KR100941271B1 (ko) |
DE (1) | DE102007054067A1 (ko) |
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WO2010038514A1 (ja) | 2008-10-02 | 2010-04-08 | シャープ株式会社 | 表示装置用基板、表示装置用基板の製造方法、表示装置、液晶表示装置、液晶表示装置の製造方法及び有機エレクトロルミネセンス表示装置 |
JP5428675B2 (ja) * | 2009-09-09 | 2014-02-26 | 株式会社リコー | 二次電池の保護回路、バッテリーパック及び電子機器 |
JP5350297B2 (ja) | 2010-03-17 | 2013-11-27 | クラリオン株式会社 | 車両姿勢角算出装置及びそれを用いた車線逸脱警報システム |
JP5414588B2 (ja) * | 2010-03-24 | 2014-02-12 | 株式会社東芝 | 車両運転支援用処理装置及び車両運転支援装置 |
CN103403778B (zh) * | 2011-02-28 | 2016-01-20 | 丰田自动车株式会社 | 行驶支援装置及方法 |
TWI434239B (zh) | 2011-08-26 | 2014-04-11 | Ind Tech Res Inst | 後方來車變換車道預警方法及其系統 |
WO2013039273A1 (en) * | 2011-09-16 | 2013-03-21 | Lg Electronics Inc. | Driving apparatus and method using 3d sensor |
DE102011084674A1 (de) * | 2011-10-18 | 2013-04-18 | Robert Bosch Gmbh | Aufbau einer Fahrspurkarte in Multikamerasystemen |
US9168953B2 (en) | 2011-11-08 | 2015-10-27 | Toyota Jidosha Kabushiki Kaisha | Vehicle travel track control device |
TWI438729B (zh) | 2011-11-16 | 2014-05-21 | Ind Tech Res Inst | 車道偏移警示方法及系統 |
JP5543501B2 (ja) * | 2012-01-27 | 2014-07-09 | 株式会社日本自動車部品総合研究所 | 車両制御装置 |
KR101347886B1 (ko) * | 2012-02-20 | 2014-01-08 | 울산대학교 산학협력단 | 도로 영역 및 기하학적 정보를 이용한 차로 인식 방법 및 장치 |
KR101499455B1 (ko) * | 2013-07-24 | 2015-03-06 | 현대오트론 주식회사 | 차량의 차선 이탈 경보 장치 및 방법 |
CN103496370B (zh) * | 2013-10-15 | 2018-01-30 | 扬州瑞控汽车电子有限公司 | 一种车道偏离预警方法 |
JP6260233B2 (ja) * | 2013-12-02 | 2018-01-17 | 富士通株式会社 | 情報処理装置、カメラ取付角度の推定方法、及びプログラム |
KR20150144125A (ko) * | 2014-06-16 | 2015-12-24 | 현대모비스 주식회사 | 안전 운전 유도 시스템 및 이의 방법 |
JP6076394B2 (ja) * | 2015-04-01 | 2017-02-08 | 三菱電機株式会社 | 車両用操舵装置および車両操舵制御方法 |
KR20170014534A (ko) * | 2015-07-30 | 2017-02-08 | 현대자동차주식회사 | 차량, 차량 제어 장치 및 차량의 제어 방법 |
JP6772604B2 (ja) * | 2016-07-12 | 2020-10-21 | 村田機械株式会社 | 移動経路作成方法、及び、移動経路作成装置 |
US9988048B1 (en) | 2017-03-03 | 2018-06-05 | GM Global Technology Operations LLC | Lane detection systems and methods |
US10160459B2 (en) | 2017-03-22 | 2018-12-25 | Ford Global Technologies, Llc | Vehicle lane direction detection |
US10990102B2 (en) * | 2017-06-14 | 2021-04-27 | Motional Ad Llc | Adaptive dynamic model for automated vehicle |
CN107672593A (zh) * | 2017-08-26 | 2018-02-09 | 圣码智能科技(深圳)有限公司 | 防止车辆偏离导航的方法 |
CN108216024A (zh) * | 2017-12-14 | 2018-06-29 | 浙江鼎奕科技发展有限公司 | 一种车道偏离预警系统及其方法 |
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CN112109633A (zh) * | 2019-06-19 | 2020-12-22 | 上海高德威智能交通系统有限公司 | 车道偏离预警方法、装置、设备、车辆及存储介质 |
CN112562406B (zh) * | 2020-11-27 | 2022-08-16 | 众安在线财产保险股份有限公司 | 一种越线行驶的识别方法及装置 |
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2007
- 2007-03-30 KR KR1020070031198A patent/KR100941271B1/ko active IP Right Grant
- 2007-11-13 DE DE102007054067A patent/DE102007054067A1/de not_active Ceased
- 2007-11-27 JP JP2007305565A patent/JP5229451B2/ja active Active
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2008
- 2008-01-02 US US12/006,307 patent/US7746221B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003337998A (ja) * | 2002-05-21 | 2003-11-28 | Aisin Seiki Co Ltd | 車線逸脱判定装置 |
Also Published As
Publication number | Publication date |
---|---|
DE102007054067A1 (de) | 2008-10-23 |
US7746221B2 (en) | 2010-06-29 |
KR20080088675A (ko) | 2008-10-06 |
US20080238718A1 (en) | 2008-10-02 |
JP2008257681A (ja) | 2008-10-23 |
JP5229451B2 (ja) | 2013-07-03 |
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