| US 7,532,981 B2 | ||
| Vehicle departure detecting device | ||
| Hiroaki Kataoka, Susono (Japan); Seiji Kawakami, Susono (Japan); Katsuhiko Iwazaki, Numazu (Japan); and Chumsamutr Rattapon, Susono (Japan) | ||
| Assigned to Toyota Jidosha Kabushiki Kaisha, Toyota (Japan) | ||
| Appl. No. 11/887,535 PCT Filed May 26, 2006, PCT No. PCT/JP2006/311041 § 371(c)(1), (2), (4) Date Oct. 01, 2007, PCT Pub. No. WO2006/126743, PCT Pub. Date Nov. 30, 2006. |
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| Claims priority of application No. 2005-156153 (JP), filed on May 27, 2005. | ||
| Prior Publication US 2009/0030613 A1, Jan. 29, 2009 | ||
| Int. Cl. B60R 21/00 (2006.01); G08G 1/16 (2006.01) | ||
| U.S. Cl. 701—300 [701/36; 340/438] | 8 Claims |
| 1. A vehicle deviation determining apparatus comprising:
traffic lane detecting means for detecting a traffic lane of a road on which a host vehicle is driving;
deviation determining means for determining whether the host vehicle will deviate from the traffic lane, based on a positional
relation between the traffic lane and the host vehicle; and
means for detecting a vehicle speed,
wherein the traffic lane detecting means detects the traffic lane at a predetermined position, and wherein when a change amount
per predetermined time of a lane width of the detected traffic lane exceeds a threshold, the traffic lane detecting means
sets a lane width in the traffic lane so that the change amount does not exceed the threshold,
wherein the deviation determining means determines whether the host vehicle will deviate from the traffic lane, based on the
lane width thus set, and
wherein the traffic lane detecting means sets the threshold larger at a high vehicle speed than at a low vehicle speed.
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