# US 2019/0172356 A1 · Lane departure warning device and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0172356 A1 - Document ID: US20190172356A1 - Status: Published application - Kind: A1 - Application number: 16/265,995 - Filed: 2019-02-02 - Published: 2019-06-06 - Earliest claimed: 2015-11-20 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Sang Kyun SIM - Web page: https://patentgrep.com/patent/US20190172356A1 ## CPC - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract The present invention relates to a lane departure warning device or the like that limits a lane departure warning in a special road environment, in a case where it is confirmed that a driver has a lane departure intention, and so on. It is possible to secure the reliability of a lane departure warning system and to provide a driver's convenience by limiting the lane departure warning in the case where the vehicle enters into a special road region, such as a road junction/branch region by comprehensively considering information captured by a camera of the vehicle, navigation map information, and so on while using a general lane departure warning, and also limiting the lane departure warning even in the case where the driver's lane departure intention is confirmed. ## Claims ### Claim 1 An apparatus for assisting driving of a host vehicle, comprising: an image sensor configured to detect lane lines of a traveling lane on which the host vehicle is traveling; and a controller communicatively connected to the image sensor, wherein if the image sensor detects a vanishing region where one of lane lines of the traveling lane vanishes, the image sensor is configured to detect a distant lane line located opposite to the host vehicle with respect to the vanishing region, and the controller is configured to: determine whether the host vehicle enters into a road junction region based on information on the distant lane line; and deactivate a lane departure warning if it is determined that the host vehicle enters into the road junction region. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the controller is configured to periodically determine a distance from the host vehicle to the distant lane line and determine that the host vehicle enters into the road junction region if a decreasing rate of the distance is equal to or larger than a threshold value for a predetermined period of time. ### Claim 3 (depends on 1) The apparatus according to claim 1, further comprising: a navigation device mounted to the host vehicle and configured to store map information, wherein the controller determines one or more warning deactivating conditions among the host vehicle's entry into a crossroad section, entry into a tollgate or an electronic toll collection section, and entry into a crosswalk region by using at least one of the image sensor or the navigation device, and then deactivates the lane departure warning when the host vehicle enters into any of the warning deactivating conditions. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein the controller is further configured to: determine whether there is a driver's lane departure intention by using information including at least one of the host vehicle's transverse velocity, transverse acceleration, longitudinal acceleration, heading angle, steering angle, steering angle speed, a hazard signal, or operation of a turn signal; and deactivate the lane departure warning if it is determined that there is the driver's lane departure intention. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein the controller is further configured to determine whether the image sensor has a functional failure and deactivate the lane departure warning if it is determined that the image sensor has the functional failure. ### Claim 6 An apparatus for assisting driving of a host vehicle, comprising: an image sensor configured to detect lane lines of a traveling lane on which the host vehicle is traveling; and a controller communicatively connected to the image sensor, wherein if the image sensor detects an angled region where a first lane line of both lane lines of the traveling lane is angled in an outward direction, the controller is configured to: determine whether the host vehicle enters into a road branch region based on information on a second lane line of the traveling lane; and deactivate a lane departure warning if it is determined that the host vehicle enters into the road branch region. ### Claim 7 (depends on 6) The apparatus according to claim 6, wherein the controller is configured to periodically determine a distance from the host vehicle to the second lane line and determine that the host vehicle enters into the road branch region if an increasing rate of the distance is equal to or larger than a threshold value for a predetermined period of time. ### Claim 8 (depends on 6) The apparatus according to claim 6, further comprising: a navigation device mounted to the host vehicle and configured to store map information, wherein the controller determines one or more warning deactivating conditions among the host vehicle's entry into a crossroad section, entry into a tollgate or an electronic toll collection section, and entry into a crosswalk region by using at least one of the image sensor or the navigation device, and then deactivates the lane departure warning when the host vehicle enters into any of the warning deactivating conditions. ### Claim 9 (depends on 6) The apparatus according to claim 6, wherein the controller is further configured to: determine whether there is a driver's lane departure intention by using information including at least one of the host vehicle's transverse velocity, transverse acceleration, longitudinal acceleration, heading angle, steering angle, steering angle speed, a hazard signal, or operation of a turn signal; and deactivate the lane departure warning if it is determined that there is the driver's lane departure intention. ### Claim 10 (depends on 6) The apparatus according to claim 6, wherein the controller is further configured to determine whether the image sensor has a functional failure and deactivate the lane departure warning if it is determined that the image sensor has the functional failure. ### Claim 11 A method for assisting driving of a host vehicle, comprising: detecting lane lines of a traveling lane on which the host vehicle is traveling by using an image sensor; detecting a vanishing region where one of lane lines of the traveling lane vanishes by using the image sensor; detecting a distant lane line located opposite to the host vehicle with respect to the vanishing region by using the image sensor; determining whether the host vehicle enters into a road junction region based on information on the distant lane line; and deactivating a lane departure warning if it is determined that the host vehicle enters into the road junction region. ### Claim 12 (depends on 11) The method according to claim 11, wherein the determining whether the host vehicle enters into the road junction region comprises: periodically determining a distance from the host vehicle to the distant lane line; and determining that the host vehicle enters into the road junction region if a decreasing rate of the distance is equal to or larger than a threshold value for a predetermined period of time. ### Claim 13 (depends on 11) The method according to claim 11, further comprising: determining whether there is a driver's lane departure intention by using information including at least one of the host vehicle's transverse velocity, transverse acceleration, longitudinal acceleration, heading angle, steering angle, steering angle speed, a hazard signal, or operation of a turn signal; and deactivating the lane departure warning if it is determined that there is the driver's lane departure intention. ### Claim 14 (depends on 11) The method according to claim 11, further comprising: determining whether the image sensor has a functional failure; and deactivating the lane departure warning if it is determined that the image sensor has the functional failure. ### Claim 15 A method for assisting driving of a host vehicle, comprising: detecting lane lines of a traveling lane on which the host vehicle is traveling by using an image sensor; detecting an angled region where a first lane line of both lane lines of the traveling lane is angled in an outward direction by using the image sensor; determining whether the host vehicle enters into a road branch region based on information on a second lane line of the traveling lane; and deactivating a lane departure warning if it is determined that the host vehicle enters into the road branch region. ### Claim 16 (depends on 15) The method according to claim 15, wherein the determining whether the host vehicle enters into the road branch region comprises: periodically determining a distance from the host vehicle to the second lane line; and determining that the host vehicle enters into the road junction region if an increasing rate of the distance is equal to or larger than a threshold value for a predetermined period of time. ### Claim 17 (depends on 15) The method according to claim 15, further comprising: determining whether there is a driver's lane departure intention by using information including at least one of the host vehicle's transverse velocity, transverse acceleration, longitudinal acceleration, heading angle, steering angle, steering angle speed, a hazard signal, or operation of a turn signal; and deactivating the lane departure warning if it is determined that there is the driver's lane departure intention. ### Claim 18 (depends on 15) The method according to claim 15, further comprising: determining whether the image sensor has a functional failure; and deactivating the lane departure warning if it is determined that the image sensor has the functional failure.