JP2010049535A - Vehicular running support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular running support apparatus that can control a running support means for supporting vehicle running and an information means for informing an occupant of the signal state of traffic signals with the use of the same imaging means. <P>SOLUTION: While a vehicle CA runs, a traffic lane LA for departure warning is image-processed from an image processing area A1 captured by a CCD camera 2, and when the vehicle CA approaches a signal S, the traffic lane image processing is switched to an image processing area A2 for signal state information related to signal information about the signal S. Both types of image processing can be shortened in time and can be controlled by the same CCD camera 2 and image processing part 12. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle driving support device, and in particular, notifies an occupant of signal information of a traffic signal using an imaging unit that images the front of the host vehicle.

2. Description of the Related Art Conventionally, various techniques have been proposed for imaging the front of a host vehicle with an in-vehicle camera and improving the vehicle traveling safety and alerting passengers based on this imaging information.
Patent Document 1 recognizes a traveling lane of a host vehicle by detecting a lane marking such as a white line from an image captured by an in-vehicle camera, and the host vehicle can deviate from or depart from the host vehicle traveling lane. A lane departure warning device for a vehicle that outputs a warning when there is a possibility has been proposed.

  In Patent Document 1, the closer the departure determination line is to the center line of the host vehicle traveling lane, the earlier the output timing of the lane departure warning can be earlier, and the farther the departure judgment line is from the center line of the host vehicle traveling lane, Since the output timing of the alarm can be delayed, it is possible to provide a departure alarm corresponding to conditions such as individual occupant differences or travel environment.

  Further, in Patent Document 2, when there is a color change from a red signal to a blue signal in the front traffic light, it is automatically determined that the color change has occurred, and the front traffic light is informed to the vehicle occupant. A warning notification of a color change from a red signal to a blue signal has been proposed.

  In Patent Document 2, even when the color change from the red signal to the blue signal is not noticed, the change of the traffic light can be reliably prevented from being overlooked, and the lack of operation during driving of the vehicle can be assisted. Generation of irradiation can also be prevented.

JP 2005-346395 A JP 2007-188271 A

  As described above, there are various types of vehicle control based on imaging information using the imaging means, and it is common to improve convenience and safety by installing a plurality of types of such vehicle controls. It is recognition, and the technology trend is actually proceeding in the direction of multiple types. As an image pickup means, a CCD camera is generally widely used because it has many advantages such as a high resolution and a wide image pickup range.

  However, when image processing is performed on a wide-angle imaging range, there is a problem that analysis processing takes time. In particular, when image processing is used in the field of vehicle control, the time allotted to image processing is limited from the viewpoint of practicality, so that it is difficult to perform image processing on all captured areas. For this reason, for example, in the lane departure warning device, image processing is performed only in a region where a lane may exist, for example, only in the central region.

  On the other hand, it is conceivable to mount a dedicated CCD camera for each vehicle control to be mounted. However, the control system is complicated and the increase in electrical components is disadvantageous in terms of the power load of the vehicle. Moreover, since the CCD camera is expensive, there is a problem in terms of cost. That is, unless the problem of the imaging means is solved, it is practically impossible to mount a plurality of vehicle controls based on the imaging information as described above on the vehicle.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle driving support device capable of controlling driving support means for supporting driving of a vehicle and notification means for notifying an occupant of a signal state of a traffic signal using the same imaging means. It is.

  The invention of claim 1 is an image processing means for processing an image captured by an imaging means for capturing the front of the host vehicle, a traveling lane recognition means for receiving the traveling lane information from the image processing means and recognizing the traveling lane, A travel support device for a vehicle, comprising: a travel vector detection unit that detects a traveling direction and a vehicle speed of the vehicle; and a travel support unit that supports the travel of the host vehicle by a travel lane recognition unit and a travel vector detection unit. Detected by a traffic signal position detection means for detecting the traffic signal position of the vehicle lane, a signal status recognition means for receiving the traffic signal signal information from the image processing means and recognizing the traffic signal signal status, and a traffic signal position detection means. When the traffic signal position is within a predetermined distance from the host vehicle, the signal status recognition means is activated to notify the occupant of the signal information acquired from the image processing means. And having a notification means.

  In the first aspect of the present invention, the image pickup means and the image processing means process an image for operating the driving support means for supporting the traveling of the host vehicle when the traffic signal position is other than a predetermined distance from the own vehicle, When the position is within a predetermined distance from the host vehicle, so-called identical imaging means and image processing means for processing an image for operating the signal state recognition means are selectively used based on predetermined conditions. Thereby, the image processing time in each control can be minimized.

  According to a second aspect of the present invention, in the first aspect of the present invention, the vehicle speed detecting means for detecting the vehicle speed of the host vehicle and a deceleration for detecting the braking deceleration of the host vehicle based on the distance from the current position of the host vehicle to the stop position. And a speed detection means, and the traffic light signal is recognized as a red or yellow signal by the signal state recognition means, and when the deceleration is equal to or greater than a predetermined value, a warning means for warning a passenger is provided. To do.

  According to a third aspect of the present invention, in the second aspect of the invention, when the vehicle speed detecting means determines that the host vehicle is in a stopped state, and the signal state recognition means recognizes that the traffic light signal is blue, It is characterized by informing the change.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, the vehicle has a preceding vehicle detecting means for detecting a preceding vehicle traveling ahead of the host vehicle, and the notification means is operable when no preceding vehicle is detected. And

  According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the driving support means alerts when the host vehicle departs from the driving lane by the driving lane recognition means and the course vector detecting means. It is characterized by having deviation warning means for performing

  (6) In the invention according to any one of (1) to (4), the travel support means controls the steering means so that the host vehicle travels in the travel lane by the travel lane recognition means and the course vector detection means. It has the lane maintenance travel control means to do.

  According to the first aspect of the present invention, the image processing means for processing the image picked up by the image pickup means for picking up the front of the host vehicle, and the travel lane recognition means for receiving the travel lane information from the image processing means and recognizing the travel lane. A travel vector detecting means for detecting the traveling direction and the vehicle speed of the vehicle, and a travel support means for supporting the travel of the host vehicle by the travel lane recognition means and the travel vector detection means. The traffic signal position detecting means for detecting the traffic signal position of the traveling lane of the own vehicle, the signal status recognition means for receiving the traffic signal signal information from the image processing means and recognizing the signal status of the traffic signal, and the traffic signal position detecting means. When the detected traffic signal position is within a predetermined distance from the own vehicle, the signal information obtained from the image processing means by operating the signal state recognition means Because having a notification means for knowledge, using the same imaging device, the signal state of the driving support unit and the traffic signal to assist the running of the vehicle can be controllable and informing means for informing the passenger.

  In other words, while the vehicle is running, the travel lane is image-processed from the image captured by the imaging means, and when the vehicle approaches the traffic light, the travel lane image processing is changed to the image processing related to the signal information of the traffic light. Both image processing times can be shortened, and control can be performed by the same imaging means and image processing means.

  According to the invention of claim 2, vehicle speed detection means for detecting the vehicle speed of the host vehicle, and deceleration detection means for detecting the braking deceleration of the host vehicle based on the distance from the current position of the host vehicle to the stop position. The traffic light signal is recognized as red or yellow signal by the signal status recognition means, and has a warning means for warning the occupant when the deceleration is a predetermined value or more. The braking can be notified.

  According to the third aspect of the present invention, when the vehicle speed detecting means determines that the host vehicle is in a stopped state, and the signal state recognizing means recognizes that the traffic light signal is blue, to notify the passenger of the signal switching. Even if the occupant is not aware of the color change from the red signal to the green signal, it is possible to reliably prevent the change of the traffic light from being overlooked.

  According to the invention of claim 4, the vehicle has a preceding vehicle detecting means for detecting a preceding vehicle traveling in front of the host vehicle, and the notifying means is operable when the preceding vehicle is not detected, thereby preventing unnecessary notification. This can prevent the passenger from being bothered.

  According to the fifth aspect of the present invention, since the travel support means has the departure warning means that issues a warning when it is determined by the travel lane recognition means and the course vector detection means that the host vehicle departs from the travel lane, the travel support means As the means, it is possible to achieve both the lane departure warning means and the signal information notification means.

  According to the invention of claim 6, the travel support means has the lane maintaining travel control means for controlling the steering means so that the host vehicle travels in the travel lane by the travel lane recognition means and the course vector detection means. It is possible to achieve both the lane maintaining travel control means for controlling the steering means as the travel support means and the signal information notification means.

  The vehicle travel support apparatus of the present invention includes an image processing unit that processes an image captured by an imaging unit that captures the front of the host vehicle, and a travel lane recognition that recognizes a travel lane by receiving travel lane information from the image processing unit. Means, a course vector detection means for detecting the traveling direction and the vehicle speed of the vehicle, and a travel support means for supporting the travel of the host vehicle by the travel lane recognition means and the course vector detection means.

  As shown in FIG. 1 and FIG. 2, a driving support device 1 equipped in a vehicle CA (automobile CA) includes a CCD camera 2, a millimeter wave radar 3, a navigation device 4, an ECU 5, a speaker 6, a buzzer 7, a lamp 8, A display 9, a vehicle speed sensor 10, and a rudder angle sensor 11 are provided, and these 2 to 11 are electrically connected as shown in FIG. In the driving support device 1 of the present embodiment, at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9 can be left out and omitted.

  As shown in FIGS. 1 to 3, the CCD camera 2, the millimeter wave radar 3, and the ECU 5 correspond to traveling lane recognition means for recognizing the traveling lane of the host vehicle CA (hereinafter referred to as the host vehicle traveling lane LA). The sensor 10, the steering angle sensor 11, and the ECU 5 correspond to a course vector detection unit that detects the traveling direction and the vehicle speed of the vehicle.

  The ECU 5 sets a departure determination line Ld along both edges in the width direction of the host vehicle travel lane LA recognized by the travel lane recognition means, and determines whether or not the host vehicle CA has deviated from the departure determination line Ld. The ECU 5, the speaker 6, the buzzer 7, the lamp 8, and the display 9 correspond to departure warning means for outputting an alarm when the departure determination is made by the departure determination means. .

  The CCD camera 2 is an imaging means (on-vehicle camera) that images the front of the host vehicle CA, and is attached to the upper rear side of the windshield of the vehicle CA, for example, and more specifically from the host vehicle CA. Can also image a lane marking line La such as a white line that divides the vehicle traveling lane LA ahead, and when there are a plurality of parallel lanes L including the vehicle traveling lane LA, than the vehicle CA. A lane marking line La such as a white line that divides a plurality of lanes L in front can be imaged, and image information captured by the CCD camera 2 is supplied to the ECU 5.

  The millimeter wave radar 3 is a radar unit that detects the other vehicle CB including the preceding vehicle ahead of the host vehicle CA and can detect the relative speed between the detected other vehicle CB and the host vehicle CA. The other vehicle CB is attached to the front bumper of the vehicle in the forward direction on the rear side of the emblem or the like, and specifically travels or stops on the own vehicle traveling lane LA ahead of the own vehicle CA. When there are a plurality of parallel lanes L including the lane LA, the relative position of the other vehicle CB relative to the host vehicle CA is relative to each other vehicle CB traveling in any of the plurality of lanes L ahead of the host vehicle CA. The speed can be detected, and information detected by the millimeter wave radar 3 is supplied to the ECU 5. Various radars having the above functions can be employed instead of the millimeter wave radar 3.

  As shown in FIG. 2, the ECU 5 is a control unit including a computer, analyzes an image captured by the CCD camera 2, and detects a lane marking line La from the image (image processing means) 12 And a driving lane recognition unit 13 that detects the number of lanes in the one-side area SZ including the host vehicle travel lane LA in response to a signal from the image processing unit 12 and detects the position of the host vehicle travel lane LA in the plurality of lanes L. (Travel lane recognizing means) and a course vector detecting unit 14 (path vector detecting means) for detecting the traveling direction and the vehicle speed of the vehicle in response to signals from the vehicle speed sensor 10 and the steering angle sensor 11 are provided.

  The traveling lane recognition unit 13 detects the number of lanes in the one-side region SZ from the lane marking line La detected by the image processing unit 12. Here, when the opposite lane LB is adjacent to the one-side region SZ, When the central separation band X that is the boundary with the opposite lane LB can be identified, the lane division line La of the one side area SZ adjacent to the central separation band X is detected as the central lane division line Lc, and the lane of the one side area SZ The number of lane markings La is determined, and the number of lanes in the one-side area SZ is detected. Y indicates a road shoulder.

  Here, the image processing unit 12 preferentially processes a preset priority processing area, for example, a lower central area of the imaging range, of the captured image of the CCD camera 2. When the necessary lane is not detected, the entire lower region, and further, the upper region and the image processing region are enlarged.

  When the image processing unit 12 cannot detect the central lane marking Lc in the one-side area SZ, or in order to increase the detection accuracy of the central lane marking Lc in the one-side area SZ, The oncoming vehicle CB is detected from the relative position and relative speed of the other vehicle CB, and on the right side of the own vehicle traveling lane LA, for example, the lane L in which the traveling of the oncoming vehicle CB could not be detected within a certain period of time is defined as the one-side area SZ. Lane L, the lane L adjacent to the right side of the lane L (the lane L in which the traveling of the oncoming vehicle CB can be detected within a certain time) is set as the oncoming lane LB, and the boundary of these lanes L is defined by the median X It is estimated that there is a lane marking line La in one side area SZ adjacent to the central separation band X as a central lane marking line Lc.

  When the number of lanes in the one-side area SZ is plural, the traveling lane recognition unit 13 determines the vehicle traveling lane LA in the plural lanes L in the one-side area SZ from the image captured by the CCD camera 2 and analyzed by the image processing unit 12. The position is detected.

  Here, for example, FIG. 3 shows a plan view of a road in which the number of lanes in one side area SZ is three lanes and the number of all lanes including the other one side area is six lanes. In the overtaking lane (the rightmost lane L). In this case, first, it can be detected from the lane line La detected by the image processing unit 12 that the total number of lanes is six lanes, and the relative position of the other vehicle CB relative to the host vehicle CA detected by the millimeter wave radar 3. From the relative speed, the center lane marking Lc in the one-side area SZ can be detected with high accuracy, and it can be detected that the host vehicle CA is traveling in the overtaking lane.

  As shown in FIG. 3, the ECU 5 includes a departure determination line setting unit 16 that sets a departure determination line Ld along both widthwise end edges of the recognized vehicle lane LA, and this departure determination line setting unit 16. A departure determination unit 15 that determines whether or not the host vehicle CA has deviated outside the departure determination line Ld set in Step 1, and when the departure determination unit 15 makes a departure determination, the speaker 6, the buzzer 7, the lamp 8, and the display 9 is provided with a departure warning control unit 17 (deviation warning means) that controls at least one of 9 and issues a departure warning.

  The lane departure determination unit 15 determines the departure based on the position of the host vehicle travel lane LA when the departure determination line setting unit 16 detects that the number of lanes in the one-side area SZ is plural. As a line Ld, a reference determination line Ld1 is set on the edge side adjacent to the other lane L of the one-side area SZ in the host vehicle travel lane LA, and is not adjacent to the other lane L of the one-side area SZ. On the edge side, a second determination line Ld2 located inside the host vehicle travel lane LA with respect to the first determination line Ld1 is set.

  The lane departure determination unit 15 determines that the position of the host vehicle travel lane LA is the one-side region SZ when the departure lane recognition unit 13 detects that the number of lanes in the one-side region SZ is three or more lanes by the departure determination line setting unit 16. The first determination line Ld1 is set on both side edges of the host vehicle travel lane LA when the center lane LC other than the lane L on both sides in the width direction of the plurality of lanes L is detected, and the travel lane recognition unit 13 When it is detected that the number of lanes in the one-side area SZ is singular, the second determination line Ld2 is set on both side edges of the host vehicle travel lane LA.

The lane departure determination unit 15 calculates the rate of change in the vehicle width direction position of the host vehicle CA based on the vehicle speed and the steering angle detected by the course vector detection unit 14, and from the current time, the left front wheel or the right side of the host vehicle CA A time T for the front wheels to reach the first determination line Ld1 or the second determination line Ld2 is calculated. When it is determined that the arrival time T is shorter than a predetermined time T ₀ set in advance, the departure warning control unit 17 is configured to issue a warning instruction.

  Further, the ECU 5 receives an information signal related to the traffic signal position of the host vehicle travel lane LA from the navigation device 4 (signal position detection means), analyzes a predetermined signal image captured by the CCD camera 2, and the image processor 12 A signal state recognition unit 18 (signal state recognition means) that receives the detected signal information signal and recognizes the signal state of the traffic signal, and signals from the navigation device 4 and the vehicle speed sensor 10 receive the vehicle at a predetermined intersection. When it is necessary to stop, a deceleration detection unit 19 (deceleration detection unit) that detects the braking deceleration of the host vehicle CA and a notification control unit 20 that controls the operation of the notification unit are provided. Note that at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9 corresponds to an informing means for informing the passenger of signal information in the present embodiment.

  The ECU 5 receives from the navigation device 4 the position information of traffic signals corresponding to the position where the host vehicle CA is currently traveling and the lane where the host vehicle CA is currently traveling and is located around the position where the host vehicle CA is currently traveling. Has been. When the position of the predetermined traffic signal received from the navigation device 4 and the position where the host vehicle CA is currently traveling are within a predetermined distance, for example, within 20 m, the image processing unit 12 includes the image captured by the CCD camera 2. Image processing is performed with priority on a preset priority processing region, for example, the upper central region of the imaging range. That is, the priority image processing area is configured to be switched from the lower center area for driving lane recognition to the upper center area for signal state recognition regarding the predetermined traffic signal.

  The signal state recognition unit 18 receives the traffic signal signal information from the image processing unit 12 and determines the current signal color and the color change from the red signal to the blue signal or from the blue signal to the red signal. For the signal color determination and color change determination, the signal color may be determined directly, and the number of red signal color or blue signal color pixels existing in the light emitting part of the traffic light is greater than a predetermined ratio set in advance. In this case, it may be recognized as a red signal color or a blue signal color.

  The deceleration detection unit 19 corresponds to a position where the host vehicle CA is currently traveling from the navigation device 4 and a lane where the host vehicle CA is currently traveling, and is a predetermined traffic signal located around the position where the host vehicle CA will travel. And the current vehicle speed is received from the vehicle speed sensor 10. Based on these pieces of information, when braking is started at the present time, the deceleration until the vehicle stops at the position corresponding to the predetermined traffic signal (before the stop line) is calculated. This deceleration may be any time until stop or deceleration rate (deceleration acceleration).

  When the host vehicle CA is stopped, the notification control unit 20 determines the color change from the red signal to the blue signal when the signal state recognition unit 18 is detected, and the millimeter wave radar 3 is not in front of the other vehicle CB; When the traffic light ahead is a red or yellow signal during traveling, a notification instruction is given to at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9.

  Next, the driving support process executed by the ECU 5 will be described in detail based on the flowchart of FIG. 4 and FIG. A program for executing the driving support process is stored in the computer ROM of the ECU 5 or the like. Si (S = 1, 2,...) Indicates each step.

  As shown in FIG. 4, this travel support is started when the ignition switch of the vehicle CA is turned on. First, the position where the host vehicle CA is currently traveling from the navigation device 4 and the host vehicle CA are currently traveling. The position information of the traffic signal that corresponds to the lane LA and is located around the position where the vehicle will travel is acquired (S1). Furthermore, the local information regarding the position where the host vehicle CA is currently traveling, that is, information about the so-called city area or suburb is acquired (S2). In addition, about this area information, it is also possible to substitute with the installation density etc. of a traffic light.

  If the result of determination in S3 is No, it is determined whether or not the host vehicle CA is currently traveling (S4). As a result of the determination in S4, in the case of Yes, it is determined whether or not the traffic signal on the extension line of the traveling lane of the host vehicle CA is within a predetermined distance X0, for example, within 20 m (S5). If the result of the determination in S5 is No, there is no traffic signal on the extension of the traveling lane of the host vehicle CA within 20 m, so the traveling lane is detected by the CCD camera 2 (S6). As shown in FIG. 5 (a), it is possible to change the predetermined distance X0 between a traffic light at a position beyond the intersection and a traffic light provided simply along the traveling lane.

  As shown in FIG. 5 (b), when the traffic signal S on the extension line of the traveling lane LA of the host vehicle CA is 20 m or more away, the image processing unit 12 pre-loads the captured image A of the CCD camera 2. The set lower central area A1 is preferentially image processed. When the traveling lane of the host vehicle CA is not detected, the entire lower region, and further, the upper region and the image processing region are enlarged.

  After the process of S6, it is determined whether or not there is a possibility of departure from the travel lane (S7). In S7, the lane marking line La is detected, and then the detection information from the millimeter wave radar 3 is received, and when there is another vehicle CB ahead, the relative position and relative speed of the other vehicle CB with respect to the own vehicle CA are read. Rarely, the number of lanes in the one-side area SZ is detected. When the number of lanes in the one-side area SZ is plural, the host vehicle travel lane LA in the plural lanes L is detected. When the number of lanes in the one-side area SZ is plural, it is determined whether the number of lanes in the one-side area SZ is three or more lanes, and the case where the number of lanes in the one-side area SZ is two lanes and the overtaking lane are also determined.

As shown in FIG. 5A, when the number of lanes in the one-side area SZ is single (one lane), the second determination lines Ld2 are set on both the left and right sides of the host vehicle travel lane LA. Next, the rate of change in the vehicle width direction position of the host vehicle CA is calculated based on the vehicle speed and the rudder angle, and from the current time, the left front wheel or the right front wheel of the host vehicle CA is inward of the lane in advance with respect to the travel boundary line La. The time T to reach the second determination line Ld2 set to is calculated. When the time T is determined to shorter than the predetermined time T _0, it is determined that there is a lane departure possible. The predetermined time T ₀ is corrected according to the vehicle speed and the road surface friction coefficient μ, and is set to be longer as the vehicle speed is higher and shorter as the road surface friction coefficient μ is higher.

As a result of the determination in S7, in the case of Yes, the departure warning control unit 17 controls at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9, performs a departure warning, and returns. The result of the determination in S7, If No, when time T is the front left wheel or right wheel of the so-called host vehicle CA reaches the second judgment line Ld2 is longer than the predetermined time T _0, the routine returns.

  As a result of the determination in S5, in the case of Yes, the traffic signal on the extension line of the traveling lane of the host vehicle CA is within 20 m, so the signal state recognition process of the traffic signal by the CCD camera 2 is performed (S9). As shown in FIG. 5B, when the traffic signal S on the extension line of the traveling lane of the host vehicle CA is at a distance of less than 20 m, the image processing unit 12 pre-loads the captured image A of the CCD camera 2. The set upper center area A2 is preferentially image processed. When the signal information of the traffic signal is not detected, the image processing area is expanded to the entire upper area.

  As a result of the signal state recognition process in S9, it is determined whether the signal of the traffic light is a red signal or a yellow signal (S10). If the determination result in S10 is Yes, the notification control unit 20 controls at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9 to notify that the traffic light is a red signal or a yellow signal ( S11).

  Simultaneously with the notification of S11, the braking deceleration by the deceleration detector 19 is calculated (S12). As shown in FIG. 5 (a), the braking deceleration is calculated based on the current position input from the vehicle speed sensor 10 and the distance X1 between the current position of the host vehicle CA input from the navigation device 4 and the stop line G. The braking deceleration is calculated from the vehicle speed.

  After calculating the braking deceleration in S12, it is determined in S13 whether the braking is sudden. If the result of determination in S13 is No, processing returns. If Yes, that is, sudden braking is performed, the departure alarm control unit 17 is operated, the alarm operation of S8 is performed, and the process returns. As a result of the determination in S10, if the traffic light is not a red signal or a yellow signal, the process proceeds to S6 and the subsequent steps are performed.

  If the result of determination in S4 is No, it is determined whether or not the host vehicle CA is stopped by a traffic light based on the signal from the vehicle speed sensor 10 (S14). As a result of the determination in S14, when the signal is stopped due to the signal, signal state recognition processing of the traffic light by the CCD camera 2 is performed (S15). As shown in FIG. 5B, when the traffic signal is stopped, the image processing unit 12 preferentially processes the preset upper central area A <b> 2 of the captured image A of the CCD camera 2.

  As a result of the signal state recognition process in S15, it is determined whether the signal of the traffic light is a green signal (S16). If the result of determination in S16 is Yes, the millimeter wave radar 3 determines the presence or absence of a preceding vehicle (other vehicle CB) that is stopped (S17). If there is no preceding vehicle as a result of the determination in S17, the notification controller 20 controls at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9 to notify that the traffic light is a green signal (S18). ), Return. If the result of the determination of 16 is Yes, signal detection continues until a blue signal is detected.

  If the result of the determination in S3 is that the host vehicle CA is present in an urban area, signal state recognition processing of the traffic light by the CCD camera 2 is performed (S19). As shown in FIG. 5B, when the traffic signal is stopped, the image processing unit 12 preferentially processes the preset upper central area A <b> 2 in the captured image A of the CCD camera 2.

  As a result of the signal state recognition process in S19, it is determined whether or not the host vehicle CA is traveling (S20). As a result of the determination in S20, when the vehicle is traveling, it is determined whether the signal of the traffic light is a red signal or a yellow signal (S21). As a result of the determination in S21, in the case of Yes, the notification control unit 20 controls at least one of the speaker 6, the buzzer 7, the lamp 8, and the display 9 to notify that the traffic light is a red signal or a yellow signal ( S22).

  Simultaneously with the notification in S22, the braking deceleration by the deceleration detector 19 is calculated (S23). After calculating the braking deceleration at S23, it is determined at S24 whether the braking is sudden. If the result of the determination in S24 is sudden braking, the departure warning control unit 17 is operated to perform the warning operation in S8 (S25), and the process returns.

  As a result of the determination in S21, if the signal of the traffic light is a green signal, and if the result of the determination in S24 is not a sudden braking, the process returns. If the result of determination in S20 is that the vehicle is stopped, the process proceeds to S14 and proceeds to the subsequent steps.

  With the above configuration, while the host vehicle CA is traveling, image processing is performed on the travel lane LA from the image processing area A1 captured by the CCD camera 2, and when the host vehicle CA approaches the traffic light S, the image processing of the travel lane is performed. Since the image processing area A2 relating to the signal information of the traffic light S is changed, both image processing times can be shortened, and control can be performed by the same CCD camera 2 and image processing unit 12.

  Moreover, if the timbre, lamp color, etc. are changed in the lane departure warning, the sudden braking warning, the red or yellow signal notification, and the blue signal notification when there is no preceding vehicle to stop, the occupant can more easily recognize. In addition, by providing an elevating mechanism in the CCD camera 2, it is possible to fix the image processing area without switching by the elevating operation of the CCD camera 2 itself. Further, it is possible to collect the imaging means by recognizing the stop preceding vehicle by using the CCD camera 2 instead of the millimeter wave radar 3.

  A driving support process according to the second embodiment will be described. The difference from the first embodiment is that in the first embodiment, the travel support means is a departure warning, whereas in the second embodiment, the travel support means is a departure warning and a lane keeping travel control. In addition, the same code | symbol is attached | subjected to the mechanism similar to Example 1. FIG.

  FIG. 6 shows a steering system and a control system of the travel support device 1 installed in the host vehicle CA. As shown in FIG. 6, the left and right front wheels as steering wheels are mechanically linked to each other via a pair of left and right knuckle arms 22, a pair of left and right tie rods 23, and a drive mechanism 24 that couples the pair of left and right tie rods 23 to each other. Has been. The knuckle arm 22, tie rod 23, and drive mechanism 24 constitute a steering mechanism, and the drive mechanism 24 is provided with a motor 25 as a steering force applying means.

  The handle 26 is configured independently of the knuckle arm 22, the tie rod 23, and the drive mechanism 24 of the steering mechanism, and a motor 28 is provided as a steering reaction force applying means for a steering shaft 27 attached to the handle 26. It has been. During lane keeping travel control, so-called automatic steering, a steering reaction force is applied to the handle 26 by a motor 28 as a steering reaction force applying means.

  The motor 25 and the motor 28 are controlled by the ECU 5. The ECU 5 receives signals from various sensors shown in FIG. 6 and detects the next state. The detected state is the current lateral direction of the center line yc of the host vehicle traveling lane LA (lane marking lines La, La) detected by the CCD camera 2 and the center line yc of the host vehicle CA in the front-rear direction. Deviation yo is detected. Further, the yaw angle yw of the host vehicle CA is detected using the detection result of the CCD camera 2. The vehicle speed v and the steering angle θ are detected by the vehicle speed sensor 10 and the steering angle sensor 11. As in the first embodiment, the system includes a millimeter wave radar 3, a navigation device 4, a speaker 6, a buzzer 7, a lamp 8, and a display 9 that are necessary for performing a departure warning process.

  As shown in FIG. 6, the ECU 5 is a control unit including a computer. Similar to the first embodiment, the ECU 5 analyzes an image captured by the CCD camera 2 and detects a lane marking line La from the image. Unit 12, travel lane recognition unit 13, course vector detection unit 14, and departure determination line setting unit 16 that sets departure determination line Ld along both widthwise edges of host vehicle travel lane LA. A departure determination unit 15 that determines whether or not the host vehicle CA has deviated outside the departure determination line Ld set by the determination line setting unit 16 and a departure warning control unit 17 that performs a departure warning are provided.

  Further, the ECU 5 receives a signal information signal detected by the image processing unit 12 and recognizes a signal state of the traffic signal, and a deceleration detection unit 19 that detects a braking deceleration of the host vehicle CA. And a notifying control unit 20 that controls the operation of the notifying unit, and further, a lane maintaining traveling control unit 29 (lane maintaining traveling control unit) that maintains the course of the host vehicle CA at the center line yc of the host vehicle traveling lane LA. ).

  The lane maintaining travel control unit 29 sets the lateral deviation amount y1 in order to perform automatic steering travel along the center line yc of the travel lane LA as the target locus of the host vehicle CA. The lateral deviation amount y1 is calculated as follows, where T1 is the time required for the host vehicle CA to reach the predetermined point ahead.

y1 = yc− (yo + T1 × v × yw) (1)
Here, yc is the center line of the travel lane LA, yo is the current lateral deviation, v is the vehicle speed, and yw is the yaw angle.

  During automatic steering, a steering torque (steering reaction force) ST serving as a control target value for determining the steering reaction force is set based on the lateral deviation amount y1. The steering reaction force ST is set so as to increase as the lateral deviation amount y1 increases, but an upper limit value is also set. Further, as a characteristic of the steering reaction force, when the lateral deviation amount y1 is in a predetermined range on the left and right with respect to the center line yc, a so-called dead zone in which the steering reaction force ST is not applied is set in advance as a map. The steering reaction force ST is mapped with the lateral deviation amount y1 as a parameter, and is stored in the ROM of the ECU 5 in advance.

  Based on FIG. 7, the flowchart of a lane maintenance travel control process is demonstrated. Si (i = 1, 2,...) Indicates each step. The lane maintaining travel control process is basically calculated by the lane maintaining travel control unit 29 in the ECU 5, and is independent of the travel support process related to the departure warning and signal state recognition described in the first embodiment. To be processed.

  The current lateral deviation yo is detected (S31), and a lateral holding position, so-called travel locus, is set (S32). Next, the lateral deviation amount y1 is calculated based on the aforementioned equation (1) (S33). In S34, it is determined whether the traffic signal on the extension line of the driving lane LA of the host vehicle CA is within a predetermined distance, for example, 20 m from the navigation device 4. As a result of the determination in S34, if the traffic signal is not within 20 m, the process proceeds to S35. When the traffic signal is within 20 m, the image processing unit 12 switches the image processing area and prioritizes signal state recognition, and therefore returns and maintains the current travel locus.

  In S35, the lateral deviation amount y1 calculated in S33 is collated with the above-described dead zone map to determine whether or not it is in the dead zone range. If the result of determination in S35 is No, the process proceeds to S36 to determine whether or not there is a deviation to the right. If the result of determination in S36 is Yes, a right steering reaction force for urging the driver to turn the host vehicle CA to the left is output (S37). If the result of determination in S36 is No, a left steering reaction force for urging the driver to turn the host vehicle CA to the right is output (S38). As a result of the determination in S35, in the case of Yes, since the vehicle is in a lateral position substantially close to the set required travel locus, the process returns without applying a steering reaction force.

  With the above configuration, while the host vehicle CA is traveling, the vehicle lane LA and the lane marking line La are image-processed from the image processing area captured by the CCD camera 2, and the lateral deviation amount y1 is calculated. When the vehicle approaches, the image processing area of the traffic lane is changed to the image processing area related to the signal information of the traffic light S. Therefore, the time required for both image processing can be shortened and control can be performed by the same CCD camera 2 and image processing unit 12. can do.

  In addition, various modifications can be added without departing from the spirit of the present invention. The driving support means is not limited to the departure warning and the automatic steering, and any control can be applied as long as the vehicle control uses the imaging means.

It is a perspective view of the front part of a car. 1 is a block diagram of a travel support apparatus according to a first embodiment. It is a top view which shows the specific example of a road. 3 is a flowchart of a driving support process according to the first embodiment. It is explanatory drawing of the driving assistance control which concerns on Example 1, (a) is a top view which shows the specific example at the time of vehicle travel, (b) is a figure which shows the imaging area of a CCD camera. It is a block diagram of the driving assistance device concerning Example 2. 12 is a flowchart of a driving support process according to the second embodiment.

Explanation of symbols

CA own vehicle L lane LA own vehicle travel lane La lane division line Ld departure determination line 1 travel support device 2 CCD camera 3 millimeter wave radar 4 navigation device 5 ECU
6 Speaker 7 Buzzer 8 Lamp 9 Display 12 Image processing unit 13 Driving lane recognition unit 14 Path vector detection unit 15 Deviation determination unit 16 Deviation determination line setting unit 17 Deviation warning control unit 18 Signal state recognition unit 19 Deceleration detection unit 20 Information control Part 29 Lane Maintenance Driving Control Unit

Claims (6)

Image processing means for processing an image picked up by the image pickup means for picking up the front of the host vehicle, traveling lane recognition means for receiving the traveling lane information from the image processing means and recognizing the traveling lane, the traveling direction and the vehicle speed of the vehicle A travel support device for a vehicle, comprising: a route vector detection means for detecting the vehicle; and a travel support means for supporting the travel of the host vehicle by the travel lane recognition means and the route vector detection means,
Traffic signal position detecting means for detecting the traffic signal position of the traveling lane of the own vehicle;
A signal state recognition unit that receives signal information of the traffic signal from the image processing unit and recognizes the signal state of the traffic signal;
Informing means for informing a passenger of signal information acquired from the image processing means by operating the signal state recognition means when the traffic signal position detected by the traffic light position detection means is within a predetermined distance from the host vehicle. A vehicle travel support apparatus comprising: Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
Deceleration detecting means for detecting the braking deceleration of the host vehicle based on the distance from the current position of the host vehicle to the stop position;
2. The vehicle according to claim 1, further comprising a warning unit that recognizes a traffic light signal as a red or yellow signal by the signal state recognition unit and that warns a passenger when the deceleration is equal to or greater than a predetermined value. A vehicle travel support device.   3. The vehicle speed detection means determines that the host vehicle is in a stopped state, and notifies the occupant of signal switching when the signal state recognition means recognizes that the traffic signal is blue. The vehicle driving support device according to claim 1. Having preceding vehicle detection means for detecting a preceding vehicle traveling in front of the host vehicle;
4. The vehicle travel support apparatus according to claim 3, wherein the notification means is operable when a preceding vehicle is not detected.   5. The travel support means comprises departure warning means for giving a warning when it is determined by the travel lane recognition means and the course vector detection means that the host vehicle departs from the travel lane. The vehicle travel support apparatus according to any one of the above. 2. The lane maintaining travel control means for controlling the steering means so that the host vehicle travels in the travel lane by the travel lane recognition means and the course vector detection means. The driving support device for a vehicle according to any one of? 4.