Patent ID: 8489287

Claim:
A vehicle rollover prevention safety driving method, comprising the following steps: (A) fetching at least a road image in front of said vehicle; (B) determining if drive lanes are in a road image, in case the answer is negative, return to step (A), otherwise perform step (C); (C) calculating by a processor a curvature of said drive lane, inclination angle of the road, and the relative positions of said vehicle on said drive lane based on a lane marking; (D) calculating a rollover prediction point and a rollover threshold speed based on vehicle dynamic information, said curvature of the drive lane, said inclination angle of the road; and (E) determining if said vehicle speed is over a rollover threshold speed; in case the answer if negative, returning to said step (C); otherwise, issuing a warning to driver to slow down said vehicle relative to said rollover prediction point and said rollover threshold speed, wherein in said step (C), a lane marking model is utilized to calculate a slope of said drive lane, said curvature of said drive lane, and said relative positions of said vehicle on said drive lane, wherein the equation of the lane marking model is: X w =k·Y w 2 +m·Y w +b, wherein X w and Y w indicate world coordinate axes, respectively, and k, m, and b are parameters of said lane marking model, wherein the slope E l of said drive lane is obtained by applying a first order differentiation to said lane marking model, where E l =2·kY w +m, wherein said curvature C l of the drive lane is obtained by applying a second order differentiation to said lane marking model, where C l =2·k, and wherein said relative positions ΔY of said vehicle on said drive lane are obtained as: Δ ⁢ ⁢ Y = { b R 2 + ( b V 2 - Y L - L × ɛ l ) b R 2 - ( b V 2 - Y L - L × ɛ l ) where b R indicates width of the drive lane, b v indicates width of the vehicle, Y L is a lateral displacement of the vehicle from said drive lane, and L is a pre-view distance slope.