Triggering logic for lane keeping aid using predicted evasive maneuver

A system comprising:

• memory hardware configured to store instructions;
• and
• processor hardware configured to execute the instructions, wherein the instructions include:
• determining at least one traveling trajectory of a host vehicle;
• detecting a boundary of a lane or a road on which the host vehicle is traveling;
• determining, based on the at least one traveling trajectory and the boundary, whether at least one triggering condition for performing a lane/road keeping maneuver is met;
• and
• performing the lane/road keeping maneuver to maintain the host vehicle within a predefined distance from the boundary,
• wherein the at least one triggering condition is based on a set of parameters,
• wherein the set of parameters relates to a predetermined acceptable crossover distance from the boundary and a shape of the at least one traveling trajectory,
• wherein the shape of the at least one traveling trajectory is based on a curvature rate of the host vehicle while traveling and the at least one traveling trajectory relates to predicted traveling of the host vehicle, and
• wherein the determining of whether the at least one triggering condition is met includes determining whether the at least one traveling trajectory crosses the boundary by at least the predetermined acceptable crossover distance.

A non-transitory computer-readable medium comprising instructions including:

• determining at least one traveling trajectory of a host vehicle;
• detecting a boundary of at least one of a lane or a road on which the host vehicle is traveling;
• determining, based on the at least one traveling trajectory and the boundary, whether at least one triggering condition for performing a lane/road keeping maneuver is met;
• and
• performing the lane/road keeping maneuver to maintain the host vehicle within a predefined distance from the boundary,
• wherein the at least one triggering condition is based on a set of parameters,
• wherein the set of parameters relates to a predetermined acceptable crossover distance from the boundary and a shape of the at least one traveling trajectory,
• wherein the shape of the at least one traveling trajectory is based on a curvature rate of the host vehicle while traveling and the at least one traveling trajectory relates to predicted traveling of the host vehicle, and
• wherein the determining of whether the at least one triggering condition is met includes determining whether the at least one traveling trajectory crosses the boundary by at least the predetermined acceptable crossover distance.