Patent ID: 7236884
Filing Date: 2007-06-26
Classification: B60T,B60W,B62D

Abstract:
1. An automotive lane deviation prevention apparatus comprising: a picture image pick-up device that captures a picture image in front of a host vehicle; a lane marking line detector that detects a lane marking line based on the picture image captured by the picture image pick-up device; and a processor programmed to perform the following: wherein the apparatus is adapted to provide the host vehicle a first desired yaw-moment controlled variable to avoid deviating from the driving lane in the event that the apparatus cannot detect a lane marking line and the vehicle is traveling on the predetermined irregularities formed on or in close proximity to either one of the left-hand side lane marking line and the right-hand side lane marking line of the driving lane; wherein the apparatus is adapted to provide a second desired yaw-moment controlled variable to avoid deviating from the driving lane in response to the host vehicle's lane deviation tendency detected based on lane marking line detection; and wherein the apparatus is adapted to correct the second desired yaw-moment controlled variable to a large value when the vehicle is traveling on the predetermined irregularities formed on or close to either one of a left-hand side lane marking line and a right-hand side lane marking line of the driving lane.