US 11,688,180 B2
Lane departure warning without lane lines
Roberto Guzman Galan, Tlaquepaque (MX)
Assigned to Continental Autonomous Mobility US, LLC, Auburn Hills, MI (US)
Filed by Continental Automotive Systems, Inc., Auburn Hills, MI (US)
Filed on Jun. 3, 2020, as Appl. No. 16/891,929.
Prior Publication US 2021/0383135 A1, Dec. 9, 2021
Int. Cl. B60Q 1/00 (2006.01); G06V 20/56 (2022.01); G08G 1/16 (2006.01); B60Q 9/00 (2006.01); G06V 20/64 (2022.01); B60W 50/14 (2020.01); B60W 30/12 (2020.01); B60W 50/16 (2020.01); B60W 60/00 (2020.01)
CPC G06V 20/588 (2022.01) [B60Q 9/008 (2013.01); G06V 20/647 (2022.01); G08G 1/167 (2013.01); B60W 30/12 (2013.01); B60W 50/16 (2013.01); B60W 60/001 (2020.02); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a lane departure system, including:
at least one detection device mounted to a vehicle, the at least one detection device captures image data and detects objects in an environment around the vehicle and a width of a road based on the image data, the image being without any representation of lane markers or lines of the road;
a controller in electrical communication with the at least one detection device;
a warning device in electrical communication with the controller;
at least one virtual lane boundary generated by the controller based on the width of the road, the image data, the objects detected in the environment around the vehicle, and a direction of travel of the vehicle, the at least one virtual lane boundary being generated without any representation of lane markers or lines of the road in the image data; and
at least one virtual lane determined by the controller based on the at least one virtual lane boundary and located adjacent the at least one virtual lane boundary;
wherein as the vehicle traverses the road corresponding to the at least one virtual lane, the controller sends a command to the warning device to generate a warning when the at least one detection device has detected that the vehicle had moved within a proximity limit of the road corresponding to the at least one virtual lane boundary.