VEHICLE VISION SYSTEM WITH LATERAL CONTROL ALGORITHM FOR LANE KEEPING

摘要

A lane keeping assist system of a vehicle includes a camera and control having an image processor that processes image data captured by the camera to determine a lane boundary of a lane of a road traveled by the vehicle. The control establishes a virtual boundary line at an initial location relative to the determined lane boundary, with the initial location of the virtual boundary line at or inboard of the determined lane boundary. The control, responsive to a lateral speed of the vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary. Responsive to a determination that the vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, the control at least one of (i) generates an alert to the driver of the vehicle and (ii) controls a steering system of the vehicle.

主权项

1. A lane keeping assist system of a vehicle, said lane keeping assist system comprising:
a camera configured to be disposed at a vehicle equipped with said lane keeping assist system so as to have a forward field of view exterior of the equipped vehicle; a control comprising an image processor that processes image data captured by said camera when said camera is disposed at the vehicle to determine a lane boundary of a lane of a road traveled by the equipped vehicle; wherein said control establishes a virtual boundary line at an initial location relative to the determined lane boundary, and wherein the initial location of the virtual boundary line is at or inboard of the determined lane boundary; wherein said control, responsive to a lateral speed of the equipped vehicle relative to the determined lane boundary, laterally adjusts the virtual boundary line relative to the determined lane boundary; and wherein, responsive to said control determining that the equipped vehicle, when moving towards the determined lane boundary, would cross the virtual boundary line, said control at least one of (i) generates an alert to a driver of the equipped vehicle and (ii) controls steering of the equipped vehicle.