LANE LINE DEPARTURE PREVENTION APPARATUS

摘要

A travel lane line determining unit determines a travel lane line to be used based on a predetermined selection criterion, from among the travel lane lines. A determining unit determines whether or not the own vehicle is going to depart from the travel lane line based on the determined travel lane line. A departure preventing unit outputs an alarm or controls steering of the own vehicle towards a direction in which the departure is avoided, when determined that the own vehicle is going to depart from the travel lane line. A parallel-driving control unit controls steering of the own vehicle such that the own vehicle travels along the determined travel lane line. The selection criterion determines a travel lane line from the travel lane lines which do not correspond to a predetermined exclusion condition, according to an execution state of the departure preventing unit or the parallel-driving control unit.

主权项

1. A lane line departure prevention apparatus comprising:
an image acquiring unit that images an image of a road surface ahead of an own vehicle and acquires a road surface image; an edge point extracting unit that extracts edge points from the road surface image acquired by the image acquiring means unit; a lane line detecting unit that detects a lane line on the basis of the edge points extracted by the edge point extracting means unit; a travel lane line estimating unit that estimates a plurality of travel lane lines from an edge of the lane line; a travel lane line determining unit that determines a travel lane line to be used based on a selection criterion set in advance, from the plurality of travel lane lines; a determining unit that determines whether or not the own vehicle is going to depart from the travel lane line on the basis of the travel lane line determined by the travel lane line determining means unit; a departure preventing unit that outputs an alarm or controls steering of the own vehicle towards a direction in which the departure is avoided, when the determining unit determines that the own vehicle is going to depart from the travel lane line; and a parallel-driving control unit that controls steering of the own vehicle such that the own vehicle travels along a travel lane line determined by the travel lane line determining unit, the selection criterion determining the travel lane line from the plurality of travel lane lines which do not correspond to an exclusion condition set in advance, according to an execution state of the departure preventing unit or the parallel-driving control unit, the lane line departure prevention apparatus further comprising an environment condition detecting unit that detects an environment condition set in advance, the exclusion condition depending on a detection result of the environment condition detecting unit.