| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a lane departure warning apparatus capable of preventing a false warning and the absence of a warning about a lane departure that is caused by special road geometry such as a junction and a tollgate. <P>SOLUTION: The lane departure warning apparatus, which outputs a warning signal upon determining departure of a vehicle from a lane, performs the steps of: when one dividing line in a vehicle width direction of the vehicle is not detected, estimating a position of the one dividing line based on a position of the other dividing line as a first estimation dividing line; estimating a position of the non-detected one dividing line based on the position of the one dividing line prior to the non-detection as a second estimation dividing line; and comparing the first estimation dividing line with the second estimation dividing line to determine the lane departure. <P>COPYRIGHT: (C)2012,JPO&INPIT |
