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 |
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.
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