Apparatus for estimating of deviation from lane, and apparatus for warning of same and method for same

摘要

An apparatus for warning deviation from a lane has a deviation evaluation (ECU 1). The deviation evaluation (ECU 1) has a deviation evaluator (14) for performing an evaluation on a deviation by comparing a future position of a host vehicle with a lane future position. Before this deviation evaluation, a mask processor (13) determines whether a yaw angle (θ) of the host vehicle and a lateral position (D) of the vehicle relative to a driving lane (CL) exceed their respective thresholds preliminarily determined. When either one or the both are not more than the thresholds, the mask processor (13) performs a mask process, without performing the deviation evaluation. A deviation evaluator (14) performs the deviation evaluation when the yaw angle and the lateral position relative to the driving lane both exceed their respective thresholds.