Method and device for monitoring lane departure

Abstract

The present application relates to a method for monitoring lane departure, the method comprising: calculating the vehicle's lateral deviation dlat_react at the reaction time treact; predicting, according to the calculated lateral deviation dlat_react, whether the vehicle will leave its lane a when controlled by the autonomous driving system or driver assistance system; if it is predicted that the vehicle will leave its own lane, calculating the maximum lateral deviation dlat_max of the vehicle relative to the left or right lane edge based on the lateral acceleration limit value alatlimit and the lateral acceleration gradient limit value jlatlimit; re-predicting whether the autonomous driving system or driver assistance system can keep the vehicle within its own lane according to the maximum lateral deviation dlat_max; and, according to the result of the re-predicting, reducing the vehicle's speed and / or issuing a warning signal to the driver.The present application also relates to a lane departure monitoring device, a computer-readable storage medium, a computer program product and a domain control device for a vehicle.

Description

FIELD OF THE INVENTIONThe present application relates to the field of lateral guidance of vehicles, and more particularly to a lane departure monitoring method and apparatus, a computer readable storage medium, a computer program product, and a domain controller for use in a vehicle.PRIOR ARTIn autonomous driving of level L 2, the autonomous driving system or driver assistance system must always provide lateral guidance for the vehicle to keep the lane. If the system cannot keep the vehicle in its own lane, the system alerts the driver and prompts him to take control.However, in the operation of autonomous driving systems and driver assistance systems, lateral control may be impaired by the occurrence of strong crosswinds, severe rough roads, sharp turns, or other factors. In such extreme situations, the system may not be able to control the vehicle to maintain the lane without driver intervention. In particular, in "hands-free" driving assistance systems in which the hands of the driver are not on the steering wheel, the driver additionally takes some time when a takeover is required in order to put the hands on the steering wheel, and a somewhat greater time is required for the vehicle takeover. If the alert is triggered too late, the driver may no longer control the vehicle in time to keep it in the lane and thus may no longer prevent collisions with other vehicles or objects. If, on the other hand, the alarm is triggered too early, the system responds too sensitively, which impairs its availability.DISCLOSURE OF THE INVENTIONOne or more embodiments of the present application provide a lane departure monitoring scheme, which scheme accounts for the driver's reaction time to take over the steering wheel to trigger a driver's vehicle take-over alert (e.g., visual and / or audible warning via a human-machine interface) when needed and in time.According to an aspect of the present application, there is provided a lane departure monitoring method, the method comprising: calculating the lateral deviation d lat_react of the vehicle at the reaction time t react; predicting according to the calculated lateral deviation d lat_react, whether the vehicle exits the lane under control of the autonomous driving system or driver assistance system; calculating the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the lateral acceleration threshold alatlimitand the lateral acceleration gradient threshold jlatlimit; when the vehicle exits the lane; Repredicting whether the autonomous driving system or driver assistance system can maintain the vehicle in its own lane according to the maximum lateral deviation d lat_max and according to the result of the repredicting, reducing the speed of the vehicle and / or outputting a warning signal to the driver.As a supplement or replacement to this scheme, according to the result of the repredictation, the speed of the vehicle is decreased and / or a warning signal is output to the driver, comprising: when the autonomous driving system or driver assistance system can keep the vehicle within the own lane, the speed of the vehicle is reduced; when the autonomous driving system or driver assistance system cannot keep the vehicle within the own lane, a warning signal is output to the driver with the request to take over the control of the vehicle while the speed is reduced.As a supplement or substitute for this scheme, the method comprises calculating the reaction time t react the lateral deviation d lat_react the lateral deviation d lat_react: wherein v lat represents the lateral speed, a actlat represents the lateral acceleration of the vehicle, t react represents the reaction time of the driver until the steering control is taken over.As a supplement or substitute for the scheme, this method comprises the prediction on the basis of the calculated lateral deviation d lat_react, whether the vehicle leaves its lane when controlled by the autonomous driving system or driver assistance system, the following: If the following two inequality requirements are fulfilled, it is predicted that the vehicle does not leave its lane when controlled by the autonomous driving system or driver assistance system: and wherein w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the left lane in the vehicle coordinate system, and, wherein the reference point refers to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, wherein v long is the longitudinal speed of the vehicle.As a supplement or substitute for the aforementioned scheme of the aforementioned method, when predicting that the vehicle will leave its own lane, the calculation of the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the limit value of the lateral acceleration alatlimitand the limit value of the lateral acceleration gradient jlatlimitFolgendes: According to the following formula, the maximum lateral deviation d lat_max is calculated: wherein v lat represents the lateral speed of the vehicle and a(t) is determined according to the following formula: and wherein t represents the time, a actlat represents the lateral acceleration of the vehicle, alatlimitrepresents the limit value of the lateral acceleration of the vehicle, The lateral acceleration gradient is determined by the following formula:As a supplement or substitute for the above scheme in the above method, the repredictating based on the maximum lateral deviation d lat_max whether the autonomous driving system or driver assistance system can maintain the vehicle within its own lane comprises: if the following two inequality requirements are satisfied, predicting that the autonomous driving system or driver assistance system can maintain the vehicle within its lane: and wherein w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance V long* t react from the vehicle in the direction of the vehicle speed, wherein v long is the longitudinal speed of the vehicle.According to an aspect of the present application, there is provided a lane departure monitoring method, the method comprising: calculating the lateral deviation d lat_react of the vehicle at the reaction time t react; predicting according to the calculated lateral deviation d lat_react, whether the vehicle deviates from its lane under control of the autonomous driving system or driver assistance system; after predicting that the vehicle will leave its own lane, calculating the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the lateral acceleration threshold alatlimitand the lateral acceleration gradient threshold jlatlimit; Repredicting whether the autonomous driving system or driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max ; and according to the result of the repredicting, reducing the speed of the vehicle, and / or outputting a warning signal to the driver.As a supplement or substitute for the above scheme in the above apparatus, the control apparatus is configured as follows: When the autonomous driving system or driver assistance system is capable of keeping the vehicle within the own lane, the speed of the vehicle is reduced; when the autonomous driving system or driver assistance system is incapable of keeping the vehicle within the own lane, a warning signal is issued to the driver to request the takeover while simultaneously reducing the speed of the vehicle.As a supplement or substitute for the above scheme in the above apparatus, the first computing device is configured to compute the lateral deviation d lat_react according to the following formula: wherein v lat represents the lateral speed, a actlat represents the lateral acceleration of the vehicle, t react represents the driver's reaction time until the steering control is taken over.As a supplement or substitute for the above scheme in the above apparatus, the first prediction apparatus is configured as: when the following two inequality meanings are satisfied, prediction that the autonomous driving system or driver assistance system can maintain the vehicle within its own lane: where w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.As a supplement or substitute for the above scheme in the above apparatus, the second computing device is configured to compute the maximum lateral deviation d lat_max according to the following formula: wherein v lat represents the lateral velocity of the vehicle, and a(t) is determined according to the following formula: and wherein t represents the time, a actlat represents the lateral acceleration of the vehicle, alatlimit limit value represents the lateral acceleration of the vehicle, jlatlimit limit value represents the lateral acceleration gradient, and the lateral acceleration gradient j(t) is determined according to the following formula:As a supplement or substitute for the above scheme in the above apparatus, the second prediction apparatus is configured as: when the following two inequality meanings are satisfied, prediction that the autonomous driving system or driver assistance system can maintain the vehicle within its own lane: where w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.According to another aspect of the present application, there is provided a computer readable storage medium, the medium comprising instructions, the instructions, when executed, performing the above method.According to another aspect of the present application, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the above method.According to another aspect of the present invention, there is provided a domain controller, wherein the domain controller comprises the above lane departure monitoring device.The lane departure monitoring scheme of the present application takes into account the driver's reaction time t react when taking over the steering wheel, calculates the lateral deviation d lat_react of the vehicle at the reaction time t react and predicts, according to the calculated lateral deviation d lat_react, whether the vehicle will leave its lane under control of the autonomous driving system or driver assistance system; If it is predicted in the first prediction that the vehicle will leave the own lane, the lane departure monitoring scheme of the present application does not immediately trigger an alarm, but calculates the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the lateral acceleration threshold alatlimitand the lateral acceleration gradient threshold jlatlimitand predicts again whether the autonomous driving system or driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max. Finally, based on the result of the second prediction, the speed is reduced and / or a warning signal is output to the driver. This scheme takes into account the driver's reaction time until he takes over the steering wheel and ensures that the alarm is triggered in time for the driver to take over the steering wheel; at the same time, the alarm is triggered only when it is necessary to maximize the availability of autonomous driving systems or driver assistance systems.DESCRIPTION OF THE FIGURESThe following detailed description with reference to the figures makes the above and other purposes and advantages of the present application more complete and obvious, with the same or similar elements being denoted by the same reference numerals. FIG. 1 shows a schematic flow diagram of a method for monitoring lane departure according to an exemplary embodiment of the present application; FIG. 2 is a schematic structural diagram of a lane departure monitoring apparatus according to an embodiment of the present application; FIG. 3 is a schematic diagram of a model for predicting whether a vehicle is leaving its lane when controlled by an autonomous driving system or driving assistance system according to an exemplary embodiment of the present application; and FIG. 4 shows a block diagram of an ADAS system with domain controller according to an embodiment.DETAILED DESCRIPTION OF THE EMBODIMENTSIn the following, with reference to the figures, a lane departure monitoring scheme according to exemplary embodiments of the present application will be described in more detail.FIG. 1 shows a schematic representation of a flow chart of the method 1000 for monitoring the deviation from driving lane according to an exemplary embodiment of the present application. As shown in FIG. 1, the lane departure monitoring method 1000 includes:In step S110, calculate the lateral deviation d react of the vehicle at the reaction time t react;In step S 120, prediction on the basis of the calculated lateral deviation d lat_react, whether the vehicle deviates from its lane when controlled by the autonomous driving system or driver assistance system;In step S 130, after the prediction that the vehicle will leave its own lane, a calculation of the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary takes place based on the limit value of the lateral acceleration alatlimitand the limit value of the lateral acceleration gradient jlatlimit;In step S 140, repredicting whether the autonomous driving system or driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max ; andIn step S 150, the speed of the vehicle is reduced and / or a warning signal is output to the driver based on the result of the repredictation.The term "reaction time t react" in the context of this application represents the reaction time in which the driver can take over the steering wheel control (or steering control), which is generally a fixed value.In step S 110, the lateral deviation d lat_react of the vehicle is calculated at the reaction time t react; In one exemplary embodiment, step S 110 includes: calculating the lateral deviation d lat_react according to the following formula: wherein v lat represents the lateral speed, a actlat represents the lateral acceleration of the vehicle, t react represents the reaction time of the driver until the steering control is taken over. In this way, the calculated lateral deviation d lat_react represents the lateral deviation of the predicted reaction time t react in the vehicle coordinate system, which lateral deviation (value) is provided with a sign, e.g., positive on the right and negative on the left, i.e., when it is predicted that the vehicle is on the right side of the current position during the reaction time t react the value of the lateral deviation is positive when it is predicted that the vehicle is on the left side of the current position during the reaction time t react the lateral deviation is negative.In step S 120, prediction on the basis of the calculated lateral deviation d lat_react, as to whether the vehicle leaves its lane when controlled by the autonomous driving system or driver assistance system. In an exemplary embodiment, step S 120 comprises: if the following two inequality meanings are satisfied, predicting that the vehicle does not deviate from its own lane when controlled by the autonomous driving system or driver assistance system: and wherein w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance V long* t react from the vehicle in the direction of the vehicle speed, wherein v long is the longitudinal speed of the vehicle.FIG. 3 shows a schematic diagram of a model for predicting whether a vehicle deviates from its lane when controlled by an autonomous driving system or a driver assistance system according to an exemplary embodiment of the present application. For example, the vehicle 310 is traveling in its own lane, at the reaction time t react the vehicle is at the position indicated by a dashed frame 320, where 330 indicates a reference point for the calculation of d leftlatborder and d rightlatborder. As shown in FIG. 3, the label d lat_react represents the lateral deviation of the vehicle during the reaction time t react and the label d latborder represents the (minimum) lateral deviation of the reference point with respect to the (left) lane boundary / boundary in the vehicle coordinate system.For the left lane boundary, when the following inequality (1) is satisfied, it can be predicted that the vehicle cannot leave its lane. For the right lane boundary, when the following inequality (2) is satisfied, it may be that the vehicle cannot leave its lane.Therefore, if it is predicted in step S 120 that the vehicle cannot leave its lane under control of the autonomous driving system or driver assistance system, the autonomous driving system or driver assistance system continues the normal strategy and no additional measures are required.Referring to step S 130, after predicting that the vehicle will leave its lane (e.g., if any of the above inequality (1) and inequality (2) fails), the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary is calculated based on the lateral acceleration threshold alatlimitand the lateral acceleration gradient threshold jlatlimit. In one embodiment, step S 130 comprises: calculating the maximum lateral deviation d lat_max according to the following formula:Wherein v lat represents the lateral velocity of the vehicle and a(t) is determined according to the following formula: and wherein t represents the time, a actlat represents the lateral acceleration of the vehicle, alatlimiting limit value of the lateral acceleration of the vehicle, jlatlimiting limit value of the lateral acceleration gradient, and the lateral acceleration gradient j(t) is determined according to the following formula:In one exemplary embodiment, the limit value of the lateral acceleration alatlimitand the limit value for lateral acceleration gradients jlatlimitfor this vehicle can be determined with the aid of the EPS steering torque limit value as a function of the vehicle speed. In one exemplary embodiment, the lateral acceleration a has actlat of the vehicle, the limit value of the acceleration a has actlat and the limit value of the lateral acceleration gradient has all signs, positive on the right and negative on the left in the coordinate system of the vehicle.In step S 140, repredicting whether the autonomous driving system or driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max. In an embodiment, step S 140 includes: when the two following inequality is satisfied, it is predicted that the autonomous driving system or driver assistance system may maintain the vehicle within its own lane: where w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.In step S 150, the speed of the vehicle is reduced and / or a warning signal is output to the driver based on the result of the repredictation. In an embodiment, step S 150 includes: when the autonomous driving system or driver assistance system may maintain the vehicle within its own lane, the speed of the vehicle is reduced; and when the autonomous driving system or driver assistance system may not maintain the vehicle within its own lane (for example, due to severe road irregularities, strong crosswind, or sharp turns), a warning signal is issued to the driver to prompt for takeover while simultaneously reducing the speed of the vehicle, thereby improving maneuverability of the vehicle and maintaining it in its lane.In one embodiment, alarms are visual and / or audible warnings issued by the human-machine interface (HMI). In one embodiment, reducing the speed of the vehicle uses a deceleration rate that is comfortable for the occupants.Moreover, it will be readily understood by those skilled in the art that the lane departure monitoring method 1000 described in one or more embodiments may be implemented by a computer program. For example, the computer program is contained in a computer program product, and if the computer program is executed by a processor, the method for monitoring lane departure 1000 according to one or more exemplary embodiments of the present application is implemented. As another example, when a computer readable storage medium (e.g., a USB drive) on which the computer program is stored is connected to a computer, by executing the computer program, the lane departure monitoring method 1000 according to one or more embodiments of the present application may be performed.Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a lane departure monitoring apparatus 2000 according to an embodiment of the present application. As shown in FIG. 2, the lane departure monitoring apparatus includes: a first computing device 210, a first prediction device 220, a second computing device 230, a second prediction device 240, and a controller 250. Wherein the first computing device 210 computes the lateral deviation d lat_react of the vehicle at the reaction time t react ; the first predicting device 220 predicts according to the computed lateral deviation d lat_react whether the vehicle leaves its lane under control of the autonomous driving system or driver assistance system; the second computing device 230 calculates the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the limit value of the lateral acceleration alatlimitand the limit value of the lateral acceleration gradient jlatlimitthe maximum lateral deviation d lat_max after the prediction that the vehicle will leave its own lane; the second prediction device 240 again predicts whether the autonomous driving system or the driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max; and the controller 250 is configured to reduce the speed of the vehicle and / or output a warning signal to the driver according to the result of the repredictating.In an exemplary embodiment, the control device 250 is configured as follows: if the autonomous driving system or driver assistance system is able to keep the vehicle within the own lane, the speed of the vehicle is reduced; if the autonomous driving system or driver assistance system is not able to keep the vehicle within the own lane, a warning signal is output to the driver to request takeover with simultaneous speed reduction of the vehicle.In one embodiment, the first computing device 210 is configured to calculate the maximum lateral deviation d lat_react according to the following formula: where v lat represents the lateral speed, a actlat represents the lateral acceleration of the vehicle, t react represents the driver's response time until the steering control is taken over.In one embodiment, the first prediction device 220 is configured as: when the following two inequality satisfies, prediction that the autonomous driving system or driver assistance system can maintain the vehicle within its own lane: and wherein w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance V long* t react from the vehicle toward the vehicle speed, wherein v long is the longitudinal speed of the vehicle.In an embodiment, the second computing device 230 is configured to calculate the maximum lateral deviation d lat_max according to the following formula: wherein v lat represents the lateral speed of the vehicle and a(t) is determined according to the following formula: and wherein t represents the time, a actlat represents the lateral acceleration of the vehicle, alatlimiting limit value of the lateral acceleration of the vehicle, jlatlimiting limit value of the lateral acceleration gradient, and the lateral acceleration gradient j(t) is determined according to the following formula:In an embodiment, the second prediction device 240 is configured as: when the following two inequality is satisfied, prediction that the autonomous driving system or driver assistance system can maintain the vehicle within its own lane: and wherein w is the width of the vehicle, d leftlatborder represents the lateral deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the lateral deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and wherein the reference point refers to a point at a longitudinal distance V long* t react from the vehicle in the direction of the vehicle speed, wherein v long is the longitudinal speed of the vehicle.In one or more exemplary embodiments, the device 2000 for monitoring the deviation from the lane may be integrated in a domain controller of an autonomous driving system or of a driver assistance system (e.g. ADAS).FIG. 4 shows a block diagram of an ADAS system including a domain controller 4000 according to an embodiment of the present application. As shown in FIG. 4, the domain controller 4000 receives sensor signals from the sensor cluster 420 (including various lane detection sensors), and the sensor signal is processed to control the brake system 430 (longitudinal control), the powertrain 440 (longitudinal control), and the steering system 450 (lateral control), respectively. In addition, the brake system 430, powertrain 440, and steering system 450 also receive operating signals from the driver 410, and the status of the vehicle (signals such as wheel speed, lateral acceleration, steering wheel angle, etc.) and the inputs from the driver (brake pedal status, accelerator pedal position, etc.) are fed back to the domain controller 4000.In one embodiment, domain controller 4000 includes a detection module, a fusion module, a trajectory planning module, and a trajectory control module. The lane departure monitoring scheme of the present application may be implemented in a trajectory planning module and a trajectory control module.In summary, it should be stated that the method for monitoring lane departure of the present application takes into account the reaction time t react of the driver until he takes over the steering wheel; calculates the lateral deviation d lat_react of the vehicle at the reaction time t react and predicts, on the basis of the calculated lateral deviation d lat_react whether the vehicle leaves his lane when controlled by the autonomous driving system or driver assistance system; If, according to the first prediction, the vehicle leaves its lane, the lane departure monitoring scheme of the present application does not immediately trigger an alarm, but calculates, on the basis of the limit value of the lateral speed alatlimitand the limit value of the lateral acceleration gradient jlatlimit, the maximum lateral deviation d lat_max relative to the left lane boundary or right lane boundary and predicts again, on the basis of the maximum lateral deviation d lat_max whether the autonomous driving system or driver assistance system can keep the vehicle within its lane. Finally, based on the result of the second prediction, the speed is reduced and / or a warning signal is output to the driver. This scheme takes into account the driver's reaction time until he takes over the steering wheel and ensures that the alarm is triggered in time for the driver to take over the steering wheel; at the same time, the alarm is triggered only when it is necessary to maximize the availability of autonomous driving systems or driving assistance systems.The examples listed above illustrate essentially a lane departure monitoring scheme of the present application. Although only some embodiments of the present application have been described, those of ordinary skill in the art will understand that the present application may be implemented in many other forms without departing from its spirit and scope. Therefore, the examples and embodiments shown are to be considered as illustrative and not restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the application as defined by the claims.

Claims

A method for monitoring lane departure, characterized in that the method comprises: calculating the lateral deviation d react of the vehicle at the reaction time t react; predicting based on the calculated lateral deviation d lat_react, whether the vehicle leaves its lane under control of the autonomous driving system or driver assistance system; calculating the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary based on the limit value of the lateral acceleration alatlimit and the limit value of the lateral acceleration gradient jlatlimit upon the prediction that the vehicle will leave its lane; Repredicting whether the autonomous driving system or driver assistance system can maintain the vehicle within the own lane according to the maximum lateral deviation d lat_max ; and reducing the speed of the vehicle and / or outputting a warning signal to the driver based on the repredicting.The method of claim 1, wherein the result of the repredicting, the reduction in speed of the vehicle, and / or the outputting of the warning signal to the driver comprises: reducing the speed of the vehicle when the vehicle can maintain its own lane by the autonomous driving system or driver assistance system; and the autonomous driving system or driver assistance system is unable to maintain the vehicle within the own lane, outputting a warning signal to the driver, assuming control while simultaneously reducing the speed of the vehicle.The method of claim 1, wherein the calculation of the lateral deviation d lat_react of the vehicle at the reaction time t react comprises the calculation of the lateral deviation d lat_react according to the following formula: d l a t _ r e a c t = v l a t ≥ t r e a c t + a a c t l a t ≥ t r e a c t 2 2, wherein v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react represents the reaction time of the driver until the steering control is taken over.The method according to claim 1 or 3, wherein according to the calculated lateral deviation d lat_react, the prediction of whether the vehicle leaves its lane under control of the autonomous driving system or driver assistance system comprises: prediction if the two following inequality is satisfied that the vehicle does not leave its lane under control of the autonomous driving system or driver assistance system: d l a t _ r e a c t - w 2 > d l e f t l a t b o r d e r ; and d l a t _ r e a c t + w 2 < d r i g h t l a t b o r d e r, where w is the width of the vehicle, d leftlatborder represents the transverse deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the transverse deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and where the reference point relates to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.The method according to claim 1, wherein in predicting that the vehicle will leave the own lane based on the threshold value of the lateral acceleration alatlimit and the threshold value of the lateral acceleration gradient jlatlimit, the calculating the maximum lateral deviation d lat_max of the vehicle relative to the left or right lane boundary comprises: the maximum lateral deviation d lat_max is calculated according to the following formula: d l a t _ m a x = following following following formula: d l a t _ m a x = following following following following following following following following following following formula: t r e a c t a ( t ) d t 2 + v l a t ≥ t r e a c t, wherein v lat represents the lateral speed of the vehicle and a(t) is determined according to the following formula a (t) = { a a c t l a t + j (t) ≥ t, t < a l a t l i m i t - a a a c t l a t j l a t l i m i t a l a t l i m i t, t ≥ a l a t l i m i t - a a a c t l a t j l a t l i m i t, wherein t represents the time, a actlat represents the lateral acceleration of the vehicle, alat-limiting limit value of the lateral acceleration of the vehicle, The lateral acceleration gradient is determined according to the following formula: j (t)={j l a t l i m i t, t<a l a t l i m i t - a a c t l a t j l a t l i m i t 0, t≥a l a t l i m i t - a a c t l a t j l a t l a t l i m i t - a a a c t l a t l a t l i m i t. Method according to claim 1 or 5, wherein a repredictation as to whether the autonomous driving system or driver assistance system can maintain the vehicle within its own lane according to the maximum lateral deviation d lat_max comprises: If the two following inequality requirements are fulfilled, predicting that the autonomous driving system or driver assistance system can maintain the vehicle within its own lane: d l a t _ m a x - w 2 > d l e f t l a t b o r d e r ; and d l a t _ m a x + w 2 < d r i g h t l a t b o r d e r, where w is the width of the vehicle, d leftlatborder represents the transverse deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the transverse deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and where the reference point relates to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.An apparatus for monitoring lane departure, the apparatus comprising: a first computing device operable to compute the lateral deviation d lat_react of the vehicle at the reaction time d lat_react ; a predicting device operable to predict, from the computed lateral deviation d lat_react whether the vehicle exits its own lane under control of the autonomous driving system or driver assistance system; a second computing device operable to compute, upon prediction that the vehicle will exit its own lane, the maximum deviation d lat_max of the vehicle relative to the left lane boundary or the right lane boundary based on the lateral acceleration alatlimit and the lateral acceleration gradient jlatimit limit; a second prediction device which serves to predict again, according to the maximum lateral deviation d lat_max whether the vehicle can maintain its lane by the autonomous driving system or driver assistance system; and a control device which serves to reduce the speed of the vehicle and / or to output a warning signal to the driver on the basis of the result of the repredictation.The apparatus of claim 7, wherein the control device is configured to: decrease the speed of the vehicle when the autonomous driving system or driver assistance system can maintain the vehicle within its own lane; and the autonomous driving system or driver assistance system is unable to maintain the vehicle within its own lane, output a warning signal to the driver to take over vehicle control while decreasing the speed of the vehicle.The apparatus of claim 7, wherein the first computing device is configured to calculate the lateral deviation d lat_react according to the following formula: d l a t _ r e a c t = v l a t ≥ t r e a c t + a a a c t l a t ≥ t r e a c t 2 2, wherein v lat represents the lateral speed of the vehicle, a actlat represents the lateral acceleration of the vehicle, t react represents the reaction time of the driver until the steering control is taken over.The apparatus according to claim 7 or 9, wherein the first prediction device is configured to: when the two following inequality is satisfied, predict that the vehicle does not leave its lane under control of the autonomous driving system or driver assistance system: d l a t _ r e a c t - w 2 > d l e f t l a t b o r d e r ; and d l a t _ r e a c t + w 2 < d r i g h t l a t b o r d e r, where w is the width of the vehicle, d leftlatborder represents the transverse deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the transverse deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and where the reference point relates to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.The apparatus of claim 7, wherein the second computing device is configured to compute the maximum lateral deviation d lat_max according to the following formula: d l a t _ m a x = following following following following following following following following following following following following following following following following following following following following following following following following following following following following following following following formula: a ( t ) = { a c t l a t + j ( t ) ∗ t, t < a l a t l i m i t - a a c t l a t j l a t l i m i t a l a t l i m i t, t ≥ a l a t l i m i t - a a c t l a t j l a t l i m i t, where t represents the time, a actlat represents the lateral acceleration of the vehicle, alat-limiting limit value of the lateral acceleration of the vehicle, jlat-limiting limit value of the lateral acceleration gradient represents and the lateral acceleration gradient j(t) is determined according to the following formula: j (t) ={j l a t l i m i t, t < a l a t l i m i t - a a c t l a t j l a t l i m i t 0, t ≥ a l a t l i m i t - a a c t l a t j l a t l i m i t. The apparatus of claim 7 or 11, wherein the second computing device is configured to: if both of the following inequality are satisfied, predict that the autonomous driving system or driver assistance system may maintain the vehicle within its own lane: d l a t _ m a x - w 2 > d l e f t l a t b o r d e r ; and d l a t _ m a x + w 2 < d r i g h t l a t b o r d e r, where w is the width of the vehicle, d leftlatborder represents the transverse deviation of the reference point relative to the left lane boundary in the vehicle coordinate system, d rightlatborder represents the transverse deviation of the reference point relative to the right lane boundary in the vehicle coordinate system, and where the reference point relates to a point at a longitudinal distance v long* t react from the vehicle in the direction of the vehicle speed, where v long is the longitudinal speed of the vehicle.A computer readable storage medium, characterized in that the medium comprises instructions and the instructions, when executed, perform a method according to any one of claims 1 to 6.Computer program product comprising a computer program, characterized in that, when the computer program is executed by a processor, a method according to one of Claims 1 to 6 is executed.Domain control device for a vehicle, characterized in that the domain control device comprises a lane departure monitoring device according to one of Claims 6 to 12.

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