Patent ID: 7509211
Filing Date: 2009-03-24
Classification: B60T,B60W,B62D

Abstract:
1. An apparatus for estimating of deviation from a lane comprising course prediction means for predicting course of a host vehicle in future, driving lane recognition means for recognizing a driving lane on which the host vehicle is running, and deviation estimating means for estimating a possibility that the host vehicle will deviate from the driving lane on the basis of a relation between the predicted future course of the host vehicle and the recognized driving lane, the apparatus further comprising: yaw angle detector for determining a yaw angle of the host vehicle relative to the recognized driving lane; lateral position detector for determining a lateral position of the host vehicle on the recognized driving lane; and prohibiting means for prohibiting the deviation estimating means from estimating the possibility of the deviation from the lane when an absolute value of the determined yaw angle is less than a predetermined threshold and when a distance between the determined lateral position and a center line of the driving lane is less than a predetermined threshold.