JP2005346395A - 車線逸脱警報装置 - Google Patents
車線逸脱警報装置 Download PDFInfo
- Publication number
- JP2005346395A JP2005346395A JP2004165037A JP2004165037A JP2005346395A JP 2005346395 A JP2005346395 A JP 2005346395A JP 2004165037 A JP2004165037 A JP 2004165037A JP 2004165037 A JP2004165037 A JP 2004165037A JP 2005346395 A JP2005346395 A JP 2005346395A
- Authority
- JP
- Japan
- Prior art keywords
- lane
- vehicle
- departure
- yaw angle
- deviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/082—Lane monitoring; Lane Keeping Systems using alarm actuation
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
【解決手段】 車線逸脱警報装置は、逸脱警報ECU1を備えている。逸脱警報ECU1は、逸脱判定部14において、自車未来位置と車線未来位置とを比較することによる逸脱判定を行う。この逸脱判定を行う前に、マスク処理部13では、自車のヨー角と走行レーンに対する横位置が所定のしきい値を超えているか否かを判断し、いずれか一方または両方がしきい値以下である場合には、マスク処理を行い、逸脱判定を行わない。また、ヨー角と走行レーンに対する横位置の両方がしきい値を超えているときに逸脱判定部14における逸脱判定を行う。
【選択図】 図1
Description
Claims (1)
- 走行中における自車の進路を推定する進路推定手段と、走行レーンを認識する走行レーン認識手段と、前記進路推定手段で推定された自車の進路および前記走行レーン認識手段で認識された自車が走行する走行レーンとの関係に基づいて、自車の逸脱判定を行う逸脱判定手段と、前記逸脱判定手段によって逸脱が判定されたときに、自車に逸脱警報を作動する逸脱警報手段と、を備える車線逸脱警報装置において、
前記走行レーンに対する前記車両のヨー角のしきい値と、前記車両における前記走行レーンの中心からの離反距離のしきい値とを記憶するマスク処理部を備え、
前記走行レーンに対する前記車両のヨー角と、前記走行レーンに対する前記車両の横位置とをそれぞれ検出し、
検出した前記車両のヨー角が前記ヨー角のしきい値を超えたとき、または検出した前記車両の横位置が、走行レーンの中心からの離反距離のしきい値を超えたときに、前記逸脱判定手段による自車の逸脱判定を行うことを特徴とする車線逸脱警報装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004165037A JP4291741B2 (ja) | 2004-06-02 | 2004-06-02 | 車線逸脱警報装置 |
US11/136,449 US7509211B2 (en) | 2004-06-02 | 2005-05-25 | Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same |
EP05011849A EP1603096B1 (en) | 2004-06-02 | 2005-06-01 | Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same |
DE602005024889T DE602005024889D1 (de) | 2004-06-02 | 2005-06-01 | Vorrichtung zur Schätzung der Abweichung von einer Fahrspur, Vorrichtung zur Warnung und Verfahren |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004165037A JP4291741B2 (ja) | 2004-06-02 | 2004-06-02 | 車線逸脱警報装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005346395A true JP2005346395A (ja) | 2005-12-15 |
JP4291741B2 JP4291741B2 (ja) | 2009-07-08 |
Family
ID=34937144
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004165037A Expired - Lifetime JP4291741B2 (ja) | 2004-06-02 | 2004-06-02 | 車線逸脱警報装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7509211B2 (ja) |
EP (1) | EP1603096B1 (ja) |
JP (1) | JP4291741B2 (ja) |
DE (1) | DE602005024889D1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021101542A (ja) * | 2017-07-25 | 2021-07-08 | 株式会社Jvcケンウッド | 表示制御装置、表示制御方法及び表示制御プログラム |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102004026590A1 (de) * | 2004-06-01 | 2006-01-12 | Siemens Ag | Assistenzsystem für Kraftfahrzeuge |
JP4291741B2 (ja) * | 2004-06-02 | 2009-07-08 | トヨタ自動車株式会社 | 車線逸脱警報装置 |
JP4200986B2 (ja) * | 2005-06-27 | 2008-12-24 | トヨタ自動車株式会社 | サーボ制御装置 |
US7561032B2 (en) * | 2005-09-26 | 2009-07-14 | Gm Global Technology Operations, Inc. | Selectable lane-departure warning system and method |
JP4918981B2 (ja) * | 2005-11-04 | 2012-04-18 | 株式会社デンソー | 車両用衝突判定装置 |
JP4816732B2 (ja) | 2005-12-01 | 2011-11-16 | トヨタ自動車株式会社 | 運転支援システムおよび運転支援方法 |
JP4432929B2 (ja) * | 2006-04-25 | 2010-03-17 | トヨタ自動車株式会社 | 駐車支援装置及び駐車支援方法 |
JP4793094B2 (ja) * | 2006-05-17 | 2011-10-12 | 株式会社デンソー | 走行環境認識装置 |
JP4386083B2 (ja) * | 2007-02-27 | 2009-12-16 | トヨタ自動車株式会社 | 駐車支援装置 |
JP5359085B2 (ja) * | 2008-03-04 | 2013-12-04 | 日産自動車株式会社 | 車線維持支援装置及び車線維持支援方法 |
DE102008061649A1 (de) * | 2008-06-11 | 2009-12-17 | Volkswagen Ag | Fahrerassistenzsystem und Verfahren zur Unterstützung eines Kraftfahrzeugführers |
JP5359516B2 (ja) * | 2008-07-29 | 2013-12-04 | 日産自動車株式会社 | 車両運転支援装置及び車両運転支援方法 |
JP5255988B2 (ja) * | 2008-10-22 | 2013-08-07 | 富士重工業株式会社 | 操舵支援装置 |
DE102009050941B4 (de) * | 2009-10-28 | 2020-06-04 | Man Truck & Bus Se | Fahrerassistenzsystem für ein Nutzfahrzeug |
JP5080602B2 (ja) * | 2010-03-19 | 2012-11-21 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
US20120078417A1 (en) * | 2010-09-28 | 2012-03-29 | International Business Machines Corporartion | Detecting Energy and Environmental Leaks In Indoor Environments Using a Mobile Robot |
JP5510254B2 (ja) * | 2010-10-01 | 2014-06-04 | トヨタ自動車株式会社 | 走行支援装置及び方法 |
KR101814601B1 (ko) * | 2010-12-09 | 2018-01-04 | 삼성전자주식회사 | 택시 안전 귀가 서비스 시스템 및 방법 |
US9852633B2 (en) * | 2011-02-28 | 2017-12-26 | Toyota Jidosha Kabushiki Kaisha | Travel assist apparatus and travel assist method |
DE102011084611A1 (de) * | 2011-10-17 | 2013-04-18 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Spurhalteassistenz-Regelung |
TWI438729B (zh) * | 2011-11-16 | 2014-05-21 | Ind Tech Res Inst | 車道偏移警示方法及系統 |
CN103185597B (zh) * | 2011-12-30 | 2017-08-01 | 上海博泰悦臻电子设备制造有限公司 | 导航方法以及导航装置 |
CN104246848B (zh) * | 2012-04-02 | 2017-04-12 | 丰田自动车株式会社 | 驾驶辅助装置 |
WO2013169153A1 (en) * | 2012-05-08 | 2013-11-14 | Autoliv Development Ab | A lane-marking crossing warning system |
US9340227B2 (en) * | 2012-08-14 | 2016-05-17 | Magna Electronics Inc. | Vehicle lane keep assist system |
TW201419229A (zh) * | 2012-11-01 | 2014-05-16 | Papago Inc | 具備影像分析功能的行車記錄裝置及其影像分析方法 |
US9487235B2 (en) | 2014-04-10 | 2016-11-08 | Magna Electronics Inc. | Vehicle control system with adaptive wheel angle correction |
US20150316387A1 (en) | 2014-04-30 | 2015-11-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Detailed map format for autonomous driving |
US20150316386A1 (en) * | 2014-04-30 | 2015-11-05 | Toyota Motor Engineering & Manufacturing North America, Inc. | Detailed map format for autonomous driving |
US10713506B2 (en) | 2014-12-18 | 2020-07-14 | Magna Electronics Inc. | Vehicle vision system with 3D registration for distance estimation |
US9946940B2 (en) | 2014-12-18 | 2018-04-17 | Magna Electronics Inc. | Vehicle vision system with adaptive lane marker detection |
DE102015201032B4 (de) | 2015-01-22 | 2018-12-20 | Volkswagen Aktiengesellschaft | Lenksystem für ein automatisiertes Fahren eines Kraftfahrzeuges |
US10449899B2 (en) | 2015-05-08 | 2019-10-22 | Magna Electronics Inc. | Vehicle vision system with road line sensing algorithm and lane departure warning |
JP6413955B2 (ja) * | 2015-06-30 | 2018-10-31 | 株式会社デンソー | 逸脱回避装置 |
KR20170071120A (ko) * | 2015-12-15 | 2017-06-23 | 현대자동차주식회사 | Lkas 시스템, 이를 포함하는 차량, 및 lkas 제어 방법 |
DE102018108572B4 (de) | 2017-04-12 | 2023-05-04 | Toyota Jidosha Kabushiki Kaisha | Spurwechselunterstützungsvorrichtung für ein fahrzeug |
US10906397B2 (en) * | 2018-01-05 | 2021-02-02 | Ford Global Technologies, Llc | Methods and systems for cruise control |
US11565693B2 (en) | 2018-05-03 | 2023-01-31 | Honda Motor Co., Ltd. | Systems and methods for distracted driving detection |
JP7095537B2 (ja) * | 2018-10-02 | 2022-07-05 | トヨタ自動車株式会社 | 画像処理装置、プログラム、情報処理システム、及び制御方法 |
CN111976703B (zh) * | 2019-05-24 | 2023-06-23 | 北京京东乾石科技有限公司 | 一种无人驾驶控制方法和装置 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB9317983D0 (en) * | 1993-08-28 | 1993-10-13 | Lucas Ind Plc | A driver assistance system for a vehicle |
JP3332500B2 (ja) | 1993-10-06 | 2002-10-07 | マツダ株式会社 | 自動車の走行状態判定装置およびそれを用いた安全装置 |
US6212453B1 (en) * | 1998-09-11 | 2001-04-03 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle steering control system |
JP3571234B2 (ja) | 1998-10-12 | 2004-09-29 | 本田技研工業株式会社 | 車両用操舵制御装置 |
JP2001010518A (ja) | 1999-06-25 | 2001-01-16 | Honda Motor Co Ltd | 車両用操舵制御装置 |
JP2001176000A (ja) | 1999-12-17 | 2001-06-29 | Mitsubishi Motors Corp | 車線逸脱抑制装置 |
JP3603768B2 (ja) * | 2000-09-06 | 2004-12-22 | 日産自動車株式会社 | 車線逸脱判定装置 |
JP4092974B2 (ja) | 2002-08-01 | 2008-05-28 | 日産自動車株式会社 | 車両用走行制御装置 |
JP4005483B2 (ja) * | 2002-11-20 | 2007-11-07 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP3900099B2 (ja) * | 2003-03-20 | 2007-04-04 | 日産自動車株式会社 | 車線逸脱防止装置 |
JP3873919B2 (ja) * | 2003-03-20 | 2007-01-31 | 日産自動車株式会社 | 車線逸脱防止装置 |
US7016783B2 (en) * | 2003-03-28 | 2006-03-21 | Delphi Technologies, Inc. | Collision avoidance with active steering and braking |
JP4062172B2 (ja) * | 2003-05-28 | 2008-03-19 | 日産自動車株式会社 | 車両用警報装置、及びこれを備えた車線逸脱防止装置 |
JP4107587B2 (ja) * | 2003-12-17 | 2008-06-25 | 三菱電機株式会社 | 車線認識画像処理装置 |
JP4291741B2 (ja) * | 2004-06-02 | 2009-07-08 | トヨタ自動車株式会社 | 車線逸脱警報装置 |
-
2004
- 2004-06-02 JP JP2004165037A patent/JP4291741B2/ja not_active Expired - Lifetime
-
2005
- 2005-05-25 US US11/136,449 patent/US7509211B2/en active Active
- 2005-06-01 DE DE602005024889T patent/DE602005024889D1/de active Active
- 2005-06-01 EP EP05011849A patent/EP1603096B1/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2021101542A (ja) * | 2017-07-25 | 2021-07-08 | 株式会社Jvcケンウッド | 表示制御装置、表示制御方法及び表示制御プログラム |
JP7163984B2 (ja) | 2017-07-25 | 2022-11-01 | 株式会社Jvcケンウッド | 表示制御装置、表示制御方法及び表示制御プログラム |
Also Published As
Publication number | Publication date |
---|---|
EP1603096A2 (en) | 2005-12-07 |
DE602005024889D1 (de) | 2011-01-05 |
JP4291741B2 (ja) | 2009-07-08 |
US20050273261A1 (en) | 2005-12-08 |
US7509211B2 (en) | 2009-03-24 |
EP1603096B1 (en) | 2010-11-24 |
EP1603096A3 (en) | 2006-11-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4291741B2 (ja) | 車線逸脱警報装置 | |
EP2319741B1 (en) | Vehicle deviation prevention control apparatus | |
US9610976B2 (en) | Lane departure prevention control system for vehicle | |
JP4730191B2 (ja) | 車両用運転支援装置、及び、脇見状態検出装置 | |
US20160314360A1 (en) | Lane detection device and method thereof, curve starting point detection device and method thereof, and steering assistance device and method thereof | |
JP2015189411A (ja) | 車両の車線逸脱防止制御装置 | |
JP2015189410A (ja) | 車両の車線逸脱防止制御装置 | |
JP2019081473A (ja) | 運転支援装置 | |
JP2009241870A (ja) | 車両走行支援装置、車両、車両走行支援プログラム | |
JP2012176656A (ja) | 駐車支援装置 | |
JPH0816998A (ja) | 自動車の走行状態判定装置 | |
JP4858516B2 (ja) | 顔向き検出装置 | |
JP4200943B2 (ja) | 運転支援装置 | |
US20180215379A1 (en) | Lane departure prevention apparatus | |
WO2018025902A1 (ja) | 操舵補助装置及び操舵補助方法 | |
JP2015221636A (ja) | 車線維持支援装置 | |
JP2015189409A (ja) | 車両の車線逸脱防止制御装置 | |
JP4779202B2 (ja) | 車両の車線逸脱警報装置 | |
KR101073259B1 (ko) | 조향 제어를 이용한 충돌회피 방법 및 장치 | |
JP2011255817A (ja) | 車線逸脱防止装置 | |
KR20160134105A (ko) | 차선 유지 제어 장치 및 방법 | |
JP4325363B2 (ja) | 車両のレーン走行支援装置 | |
JP4269157B2 (ja) | 車両のレーン走行支援装置 | |
JP4228875B2 (ja) | 車両のレーン走行支援装置 | |
JPH0816996A (ja) | 自動車の走行状態判定装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20070206 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070406 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20070626 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20070822 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20070831 |
|
A912 | Re-examination (zenchi) completed and case transferred to appeal board |
Free format text: JAPANESE INTERMEDIATE CODE: A912 Effective date: 20071012 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20090403 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 4291741 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120410 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120410 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130410 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140410 Year of fee payment: 5 |