Lane keeping assist and a method for assisting a lane keeping

A vehicle, which is a utility vehicle, comprising:

• a lane keeping system, the vehicle including a first sensor, and a second sensor, the first sensor being configured to determine a relative position of the vehicle with respect to a lane, the second sensor being configured to detect a position of an object in an adjacent lane, comprising:
• a lane keeping function configured to keep the vehicle around a default line in the lane;
• and
• a lane keeping assist, including a control unit, having a processor and a memory with stored instructions, executable by the processor, to perform the following:
• triggering a steering intervention when a distance between a side of the vehicle and a trigger line is below a predetermined threshold indicating an unintended lane departure of the vehicle;
• completing the steering intervention, when the default travel line of the lane keeping function has been reached;
• and
• shifting the trigger line when the second sensor has detected the object in the adjacent lane.

A computer-implemented method for keeping a lane for a vehicle, the vehicle including a first sensor, a second sensor, and a lane keeping function, the first sensor being configured to determine a relative position of the vehicle with respect to a lane, the second sensor being configured to detect a position of an object in an adjacent lane, the lane keeping function being configured to keep the vehicle in the lane, the method comprising:

• triggering a steering intervention when a distance between a side of the vehicle and a trigger line is below a predetermined threshold indicating an unintended lane departure of the vehicle;
• completing the steering intervention when the default travel line of the lane keeping function has been reached;
• and
• shifting the trigger line when the second sensor has detected the object in the adjacent lane.

A non-transitory computer-readable storage device having program code, which is executable by a data processing unit for performing a computer-implemented method for keeping a lane for a vehicle, the vehicle including a first sensor, a second sensor, and a lane keeping function, the first sensor being configured to determine a relative position of the vehicle with respect to a lane, the second sensor being configured to detect a position of an object in an adjacent lane, and the lane keeping function being configured to keep the vehicle around a default line in the lane, wherein the computer-implemented method includes performing the following:

• triggering a steering intervention when a distance between a side of the vehicle and a trigger line is below a predetermined threshold indicating an unintended lane departure of the vehicle;
• completing the steering intervention, when the default travel line of the lane keeping function has been reached;
• and
• shifting the trigger line when the second sensor has detected the object in the adjacent lane.