US 12,252,148 B2
Lane departure warning method and lane departure warning system
Junhua Li, Shanghai (CN); and Daoyan Guo, Shanghai (CN)
Assigned to NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed by NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed on Jun. 8, 2022, as Appl. No. 17/835,737.
Claims priority of application No. 202110641729.7 (CN), filed on Jun. 9, 2021.
Prior Publication US 2022/0396286 A1, Dec. 15, 2022
Int. Cl. B60W 50/14 (2020.01); B60W 30/12 (2020.01); B60W 40/10 (2012.01)
CPC B60W 50/14 (2013.01) [B60W 30/12 (2013.01); B60W 40/10 (2013.01); B60W 2520/06 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02)] 11 Claims
OG exemplary drawing
 
1. A lane departure warning method, comprising:
a warning area calculation step in which a warning area for lane departure of a vehicle is calculated based on information about the vehicle and information around the vehicle;
a decision making step in which a current position of the vehicle is compared with the warning area calculated in the warning area calculation step, to determine whether the vehicle is located in the warning area and output a decision instruction; and
a warning step in which a warning action is performed based on the decision instruction,
wherein the warning area calculation step comprises:
a departure value calculation substep in which a departure value of an original lane line is calculated based on the information about the vehicle and the information around the vehicle; and
a warning area modification substep in which the original lane line is modified based on the departure value of the original lane line calculated in the departure value calculation substep, to obtain modified lane lines, wherein an area defined by the modified lane lines are used as the warning area for lane departure of the vehicle.