Patent ID: 8594890
Filing Date: 2013-11-26
Classification: B60W,B62D,G08G

Abstract:
1. A lane departure warning device for detecting a position of a marking line of a lane where an own vehicle is traveling, predicting a possibility that the own vehicle will depart from the lane, and providing a warning if the possibility of the departure is high, the lane departure warning device comprising: a marking line detection section for detecting the position of the marking line based on image information acquired from an image pickup device mounted on the own vehicle; a distance estimation section for estimating a distance from a predetermined part of the own vehicle to the marking line; a required time estimation section for estimating a time required for the own vehicle to depart from the lane; a vehicle behavior estimation section for estimating a steering amount of the own vehicle toward a center of the lane or amount correlating with the steering amount based on a parameter for expressing a vehicle behavior of at least one of a steering angle, a yaw rate and a lateral G; a departure possibility determination unit for determining whether or not the possibility that the own vehicle will depart from the lane is high based on the distance from the own vehicle to the marking line that is estimated by the distance estimation section, the time required for the own vehicle to depart from the lane that is estimated by the required time estimation section, and the steering amount or the amount correlating with the steering amount that is estimated by the vehicle behavior estimation section; and a warning generator for providing a warning if it is determined by the determination unit that the possibility that the own vehicle will depart from the lane is high.