# US 10,766,532 B2 · Method for assisting a driver to keep in a lane > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,532 B2 - Document ID: US10766532B2 - Status: Granted - Kind: B2 - Application number: 16/120,492 - Filed: 2018-09-04 - Published: 2019-03-28 - Granted: 2020-09-08 - Earliest claimed: 2017-09-26 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Dominik Pahlke; Michael Koherr - Web page: https://patentgrep.com/patent/US10766532B2 ## CPC - B62D 15/029: {Steering assistants using warnings or proposing actions to the driver without influencing the steering system} - B60Q 1/04: the devices being headlights - B60Q 1/085: {due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers (B60Q1/10, B60Q1/12, B60Q1/1423 take precedence)} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60Q 2300/45: Special conditions, e.g. pedestrians, road signs or potential dangers - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A method is described for assisting a driver when operating a vehicle on a road having a road surface and lane markings. The method includes the steps of ascertaining position of lane markings using an ascertaining apparatus, determining at least one lane delimiting line on the ascertained position of the lane markings, specifying a trajectory of the vehicle, in the event of the trajectory that is specified intersecting a lane delimiting line that is determined, outputting an instruction to the driver of the vehicle using at least one light beam that is projected onto the road surface. ## Claims ### Claim 1 A method for assisting a driver when operating a vehicle, comprising: ascertaining positions of lane markings on a road using an ascertaining apparatus; determining a lane delimiting line based on the position of the lane markings; specifying a trajectory of the vehicle; and if the trajectory intersects the lane delimiting line, outputting an instruction to the driver of the vehicle using at least one light beam generated by at least one headlight of the vehicle projected onto a surface of the road, wherein the instruction is output in the form of a sweeping movement of the at least one light beam that is projected onto the surface of the road. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the ascertaining apparatus comprises a camera. ### Claim 3 (depends on 1) The method as claimed in claim 1, wherein the instruction indicates a steering direction for the vehicle to avoid driving over a point that is determined at which the trajectory intersects with the lane delimiting line. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein the instruction indicates a steering angle for the vehicle to avoid driving over a point that is determined at which the trajectory intersects with the lane delimiting line. ### Claim 5 (depends on 1) The method as claimed in claim 1, wherein the at least one light beam comprises a cone of light having a center axis and a point at which the center axis intersects with the surface of the road, wherein the point performs a rotational movement on the surface of the road. ### Claim 6 (depends on 1) The method as claimed in claim 1, wherein the instruction is output to the driver of the vehicle by two light beams that are projected onto the surface of the road. ### Claim 7 A driver assist apparatus for a vehicle, comprising: an ascertaining apparatus ascertaining positions of lane markings on a road surface; a controller determining a lane delimiting line based on the position of the lane markings, specifying a trajectory of the vehicle, and establishing whether the trajectory intersects the lane delimiting line; and a headlight of the vehicle comprising a light source projecting a light beam onto the road surface to provide an instruction to a driver of the vehicle if the trajectory intersects the lane delimiting line, wherein the instruction is output in the form of a sweeping movement of the light beam that is projected onto the road surface. ### Claim 8 (depends on 7) The apparatus as claimed in claim 7, wherein the ascertaining apparatus comprises at least one camera. ### Claim 9 (depends on 7) The apparatus as claimed in claim 7, wherein the instruction indicates a steering direction for the vehicle to avoid driving over a point that is determined at which the trajectory intersects with the lane delimiting line. ### Claim 10 (depends on 7) The apparatus as claimed in claim 7, wherein the instruction indicates a steering angle for the vehicle to avoid driving over a point that is determined at which the trajectory intersects with the lane delimiting line. ### Claim 11 (depends on 7) The apparatus as claimed in claim 7, wherein the light beam comprises a cone of light having a center axis and a point at which the center axis intersects with the road surface, wherein the point performs a rotational movement on the road surface. ### Claim 12 (depends on 7) The apparatus as claimed in claim 7, wherein the light beam is generated by the at least one headlight. ### Claim 13 (depends on 7) The apparatus as claimed in claim 7, wherein the instruction is output to the driver of the vehicle by two light beams that are projected onto the road surface. ### Claim 14 (depends on 7) The apparatus as claimed in claim 7, wherein the controller comprises a first device for determining the lane delimiting line, a second device for specifying the trajectory of the vehicle, and a third device for establishing whether the trajectory intersects the lane delimiting line. ### Claim 15 A vehicle comprising: an ascertaining apparatus ascertaining positions of lane markings on a road surface; a controller determining a lane delimiting line based on the position of the lane markings, specifying a vehicle trajectory, and establishing whether the trajectory intersects the lane delimiting line; and at least one headlight of the vehicle comprising a light source projecting a light beam onto the road surface as an instruction to a driver of the vehicle if the specified trajectory intersects the determined lane delimiting line, wherein the instruction is output in the form of a sweeping movement of the light beam that is projected onto the road surface. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the ascertaining apparatus comprises at least one camera. ### Claim 17 (depends on 15) The vehicle of claim 15, wherein the light beam is generated by the at least one headlight.