| 摘要 |
<p>The present invention relates to a method for estimating the line-crossing time for a motor vehicle provided with a camera (10), an engine control unit (40), a yaw rate sensor (20), and an automatic path correction system (30), characterized in that the method includes at least the following steps: determining the position of the right line (yri), the position of the left line (yle), the heading angle (theta), the curvature of the road (c), the yaw rate of the vehicle (Psi), the speed of the vehicle, and a path activation coefficient (g), and determining the left crossing time (TLCle) and the right crossing time (TLCri). The value of the crossing time is weighted with the yaw rate of the vehicle (Psi) and the path activation coefficient (g).</p> |
