Sensing device for detecting movement of vehicle by lane-marker

A sensing device for detecting a movement of a vehicle comprising:

• a lane marker arranged along a lane center of a road;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• an attitude detector for calculating an attitude with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors.

A sensing device for detecting a movement of a vehicle comprising:

• a lane marker arranged along a lane center of a road;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• a speed sensor of the vehicle for calculating a speed of the vehicle performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “Ls” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

A sensing device for detecting a movement of a vehicle comprising:

• a lane marker arranged along a lane center of a road;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors,
• a speed sensor of the vehicle for calculating a speed of the vehicle performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “iLs” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

A veer-off-the-lane alarming device comprising:

• a sensing device for detecting a movement of a vehicle;
• a veer-off detector for recognizing one of statuses where a vehicle to be out of a lane and the vehicle is in a danger of veering off the lane based on data obtained from said sensing device about a skid amount, an attitude and a speed of the vehicle;
• and
• an alarming device for giving one of alarms of having veered off the lane and being in danger of veering off the lane to a driver of the vehicle,
• wherein said sensing device comprises:
• a lane marker arranged along a center of a lane;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• and
• a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “Ls” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

An automatic steering device comprising:

• a sensing device for detecting a movement of a vehicle;
• and
• a steering device for controlling a yawing angle based on a skid amount and an attitude obtained by said sensing device;
• wherein said sensing device comprises:
• a lane marker arranged along a center of a lane;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• a skid detector for calculating a skid amount of the vehicle from the lane center by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors;
• an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors;
• and
• a speed sensor for calculating a speed of the vehicle by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “Ls” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

A space-between-vehicles controller comprising:

• a sensing device for detecting a movement of a vehicle;
• a space-between-vehicles measuring device;
• and
• a trailing device for trailing another vehicle ahead of the vehicle on a same lane based on an attitude obtained by an attitude detector and a distance measured by said space-between-vehicles measuring device,
• wherein said sensing device comprises:
• a lane marker arranged along a center of a lane;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• and
• a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “Ls” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

A car navigation system comprising:

• a sensing device for detecting a movement of a vehicle;
• a changing-lane detector for detecting one of statuses of the vehicle of changing the lane and being out of a road when a skid amount obtained by a skid detector—an element of said sensing device—exceeds a given value;
• wherein said sensing device comprises:
• a lane marker arranged along a center of a lane;
• a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;
• a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;
• and
• a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;
• and
• a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “Ls” between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.