JP2012027760A - Lane deviation preventive system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lane deviation preventive system that can inform a driver beforehand that the lane keeping assistance or the lane deviation warning is to be invalidated while the driver can deal with the invalidity of the lane keeping assistance or the lane deviation warning with sufficient time.SOLUTION: A lane deviation preventive system includes vehicle positional information acquiring means for acquiring vehicle positional information and the traveling direction, map data storage means for storing the map data, road prediction means for predicting a road on which the vehicle travels in the future from the vehicle's positional information, the traveling direction and the map data, and warning means that acquires information on the curve radius of the road predicted and informs a driver beforehand that the lane keeping assistance or the lane deviation warning is to be invalidated if the curve radius of the road is a preset value or less.

Description

  The present invention relates to a lane departure prevention system, and more particularly to a lane departure prevention system capable of notifying a driver that the lane maintenance support or the lane departure warning is invalid before the lane maintenance assistance or the lane departure warning cannot be executed. About.

  The vehicle detects a lane marked on the road on which the vehicle travels from an image in front of the vehicle imaged by the imaging means, and reduces the steering operation force required to travel while maintaining the lane. Those equipped with a lane departure prevention system with a lane departure warning function that issues a warning to the driver when it is determined that the lane departure is determined based on the function and lane information is there.

  In the conventional lane departure prevention system, the lane maintenance support and the lane departure warning can be continuously executed even when the lane detection accuracy by the camera is lowered (Japanese Patent Laid-Open No. 2006-178675). To prevent the continuation of driving as much as possible (Japanese Patent Laid-Open No. 2008-260337), and to perform steering control of the host vehicle so that it can travel in the lane using GPS information and an in-vehicle camera (specialty) Japanese Laid-Open Patent Publication No. 2005-165915) and steering control in consideration of the road crossing gradient so as not to deviate from the lane when driving on a curve (Japanese Patent Laid-Open No. 2006-178675).

JP 2006-178675 A JP 2008-260337 A JP-A-2005-165915 JP 2006-178675 A

By the way, in the conventional lane departure prevention system, the vehicle front is imaged by an imaging means such as a camera, the lane displayed on the road is recognized from the captured image ahead of the vehicle by image processing, and the vehicle travels. The lane that was running was detected. Since the information for detecting the lane is only the image information from the image pickup means, the lane information of the road cannot be detected for a distance far from the vehicle position or an invisible part of the curve. In the lane departure prevention system, if the curve is tight (the radius is small), the system may not be able to cope with the lane maintenance support or the lane departure warning function.
For example, in the lane departure prevention system, if the vehicle enters the curve at a fast vehicle speed and determines that the lane keeping support function cannot handle the steering control by the lane keeping support function, the steering operation is left to the driver. become. However, since the road shape in this example is expected to have a small curve radius, the vehicle behavior becomes unstable if the driver's response is delayed with respect to the stop of the lane keeping support function.
Also, in the lane departure prevention system, the white line indicating the lane on the road is used, so if the white line becomes thin or disappears, the steering control is suddenly stopped during driving. As described above, when the driver's response is delayed, the vehicle behavior becomes unstable.
The same applies to the lane departure warning of the lane departure prevention system. If the white line cannot be recognized, the alarm does not operate even if the vehicle departs from the lane.

  In Patent Document 1, even when the lane detection accuracy by the camera is lowered, the curve shape cannot be seen for the purpose of continuing the lane departure prevention control (lane maintenance support and lane departure warning). Lane departure prevention control is continued using GPS navigation information.

  In the present invention, if the detection accuracy of the lane by the imaging means is lowered, the lane keeping support and the lane departure warning cannot be executed. Before the warning can no longer be performed, the driver can be informed that the lane keeping assistance or lane departure warning will be invalidated, so the driver will have time to disable the lane keeping assistance or lane departure warning. The purpose is to be able to respond.

  The present invention comprises imaging means for imaging the front of a vehicle, and lane detection means for detecting a lane marked on a road on which the vehicle travels from an image captured by the imaging means, and is detected by the lane detection means. A lane keeping support means for reducing the steering operation force necessary to travel while maintaining the lane, and a possibility of lane departure of the vehicle based on the lane information detected by the lane detection means Vehicle position information acquisition means for acquiring vehicle position information and traveling direction in a lane departure prevention system comprising at least one of lane departure warning means for issuing a warning to a driver when determined, map data Map data storage means for storing the vehicle position information, the traveling direction obtained by the vehicle position information acquisition means, and the map data storage means. Road prediction means for predicting a road on which a vehicle will run from the stored map data; and road curve radius information predicted by the road prediction means from the map data storage means. A warning means for notifying the driver that the lane keeping support or the lane departure warning is invalidated when the value is less than the set value is provided.

The lane departure prevention system according to the present invention predicts a road on which a vehicle will run from the vehicle position information, travel direction, and map data, and determines whether the predicted curve radius is equal to or less than a preset value. By doing so, it is possible to notify the driver that the lane keeping support or the lane departure warning becomes invalid.
Therefore, the driver can cope with invalidity of the lane keeping support or the lane departure warning with a margin.

FIG. 1 is a system configuration diagram of a lane departure prevention system. Example 1 FIG. 2 is a flowchart of alarm generation in the lane departure prevention system. Example 1 FIG. 3 is a system configuration diagram of the lane departure prevention system. (Example 2) FIG. 4 is a flowchart of alarm generation in the lane departure prevention system. (Example 2) FIG. 5 is a diagram showing a map and a warning displayed on the display means. (Example 2) FIG. 6 is a system configuration diagram of the lane departure prevention system. (Modification)

The present invention determines whether or not the curve radius of the road on which the vehicle will run in the future predicted from the position information of the vehicle, the traveling direction, and the map data is equal to or less than a preset value, and provides the driver with lane maintenance assistance or This is a notification that the lane departure warning will become invalid.
Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show Embodiment 1 of the present invention. In FIG. 1, reference numeral 1 denotes a lane departure prevention system. The lane departure prevention system 1 includes an imaging unit 2 that images the front of the vehicle such as a camera, a steering angle detection unit 3 that detects the steering angle of the steering handle, a vehicle speed detection unit 4 that detects the speed of the vehicle, and a steering handle Power steering control means 6 for controlling the operation of the steering motor 5 for reducing the steering operation force, alarm output means 7 for outputting an alarm such as sound, the imaging means 2, the steering angle detection means 3, and the vehicle speed detection means 4 is provided with lane departure prevention control means 8 for controlling the power steering control means 6 and the alarm output means 7 based on information inputted from 4. The means 2 to 4, 6 and 7 and the lane departure prevention control means 8 are connected via a communication line 9 such as an in-vehicle LAN or CAN.
The lane departure prevention control means 8 includes a lane detection means 10, a lane maintenance support means 11, and a lane departure warning means 12. The lane detection unit 10 detects the lane marked on the road on which the vehicle travels from the image captured by the imaging unit 2. The lane keeping assisting means 11 calculates a steering angle required to travel while maintaining the lane detected by the lane detecting means 10 from the signal inputted from the steering angle detecting means 3 and outputs it to the power steering control means 6. By controlling the operation of the steering motor 5 by the power steering control means 6, the steering operation force necessary to travel while maintaining the lane detected by the lane detection means 10 is reduced. The lane departure warning means 12 determines the possibility of lane departure of the vehicle based on the lane information detected by the lane detection means 10, and if it is determined that the lane departure is detected, the warning output means 7 gives a voice to the driver. A warning is issued at.

In this lane departure prevention system 1, a navigation device 13 is connected to a lane departure prevention control means 8 via a communication line 9. The navigation device 13 includes vehicle position information acquisition means 14 for acquiring vehicle position information and traveling direction from information input from a GPS device, map data storage means 15 for storing map data, and display means for displaying a map. 16. The navigation device 13 matches the vehicle position information and the traveling direction information acquired by the vehicle position information acquisition means 14 on the map data in the map data storage means 15, and displays navigation information, vehicle information, etc. by the display means 16. To provide information to the driver.
The lane departure prevention system 1 includes a road prediction unit 17 in the navigation device 13. The road prediction unit 17 predicts a road on which the vehicle will travel from the vehicle position information acquired by the vehicle position information acquisition unit 14, the traveling direction, and the map data stored in the map data storage unit 15. The road on which the vehicle will travel in the future is a section corresponding to the traveling direction of the currently traveling road determined from the current position of the vehicle and the map data.
Information about the road on which the vehicle will run in the future predicted by the road prediction means 17 is input to the lane departure prevention control means 8 via the communication line 9. The lane departure prevention control means 8 includes a warning means 18. The warning means 18 obtains the curve radius information of the road predicted by the road prediction means 17 from the map data storage means 15, and if the curve radius of the road is equal to or less than a preset value, the lane maintenance assistance or A warning output means 7 notifies the lane departure warning by voice or the like.
In addition, the lane departure prevention system 1 includes an arrival time calculation unit 19 in the navigation device 13. The arrival time calculating means 19 calculates a distance between the current position of the vehicle acquired by the vehicle position information acquiring means 14 and a position where the curve radius of the road is not more than a preset value, and this distance is calculated as the vehicle speed. Dividing by the vehicle speed detected by the detecting means 10, the arrival time to the curve below the preset value is calculated. The warning means 18 of the lane departure prevention control means 8 is configured such that when the arrival time calculated by the arrival time calculation means 19 is less than or equal to a preset value, lane maintenance assistance or lane departure warning is disabled for the driver. The warning output means 7 gives a notice by voice or the like.

Next, the operation of the first embodiment will be described.
As shown in FIG. 2, the lane departure prevention system 1 determines whether the system operation of the lane keeping support means 11 and the lane departure warning means 12 is ON when the control program is started by turning on the power (A01) ( A02).
If this determination (A02) is NO, the program is ended (A03). When this determination (A02) is YES, collection of information (vehicle position information, traveling direction, map data) from the navigation device 13 is started (A04), and the road on which the vehicle will travel is predicted and predicted. It is determined whether the curve radius R of the road on which the vehicle will travel is equal to or smaller than a preset value Rs (R ≦ Rs) (A05).
If this determination (A05) is NO, the process returns to information collection (A04). If this determination (A05) is YES, the distance between the current position of the vehicle and the position where the curve radius R of the road is less than or equal to a predetermined value Rs is divided by the current vehicle speed to be set in advance. An arrival time T to a curve below the value is calculated, and it is determined whether the calculated arrival time T is equal to or less than a preset value Ta (T ≦ Ta) (A06).
If this determination (A06) is NO, the process returns to information collection (A04). If this determination (A06) is YES, the warning output means 7 issues a warning by voice or the like (A07) and informs the driver that the lane maintenance assistance or the lane departure warning is invalid, Since it can no longer be detected, the control of the lane keeping support means 11 or the lane departure warning means 12 is stopped (A08), and the process returns to the judgment (A02). Note that the settings of the curve setting value Rs and the arrival time setting value Ta are changed depending on the performance of the system.

As described above, the lane departure prevention system 1 predicts a road on which the vehicle will travel from the vehicle position information, the traveling direction, and the map data, and the predicted curve radius R of the road is less than or equal to the preset value Rs. By determining whether or not there is, it is possible to notify the driver that the lane keeping support or the lane departure warning becomes invalid.
Therefore, the driver can cope with invalidity of the lane keeping support or the lane departure warning with a margin.
Further, the lane departure prevention system 1 notifies the driver that the lane keeping support or the lane departure warning is invalidated when the arrival time T to the curve below the preset value becomes less than the preset value Ta. Therefore, it is possible to notify the driver that the lane keeping support or the lane departure warning becomes invalid at an appropriate timing.

3 to 5 show Embodiment 2 of the present invention. In FIG. 3, reference numeral 1 denotes a lane departure prevention system. The lane departure prevention system 1 according to the second embodiment has the same configuration as that of the first embodiment, and controls the operations of the imaging unit 2, the steering angle detection unit 3, the vehicle speed detection unit 4, and the steering motor 5. Power steering control means 6, alarm output means 7, lane departure prevention control means 8 are provided, and each means 2 to 4, 6, 7 and lane departure prevention control means 8 are connected via a communication line 9. Yes. The lane departure prevention control means 8 includes a lane detection means 10, a lane maintenance support means 11, and a lane departure warning means 12.
In this lane departure prevention system 1, a navigation device 13 is connected to a lane departure prevention control means 8 via a communication line 9. The navigation device 13 has the same configuration as that of the first embodiment, and includes the vehicle position information acquisition means 14, map data storage means 15, display means 16, road prediction means 17, and arrival time calculation means 19. And. The lane departure prevention control unit 8 includes a warning unit 18.
In the lane departure prevention system 1 of the second embodiment, the navigation device 13 searches for a route to the destination based on the map data stored in the map data storage unit 15 in addition to the configuration of the first embodiment. Search means 20 is provided. When the warning means 18 of the lane departure prevention control means 8 includes a section S in which the lane maintenance assistance or the lane departure warning is invalid on the route searched by the route search means 20, as shown in FIG. It is displayed on the map 21 displayed by the display means 16 that it is the section S where the lane keeping support or the lane departure warning becomes invalid.
In other words, the section S in which the lane keeping assistance or the lane departure warning is invalid is, in other words, a place where the lane keeping assistance means 11 or the lane departure warning means 12 cannot be controlled, and is on the route searched by the route searching means 20. This corresponds to a section where the curve radius R of the road falls below a preset value Rs.

Next, the operation of the second embodiment will be described.
As shown in FIG. 4, when the control program is started by turning on the power (B01), the lane departure prevention system 1 determines whether the system operations of the lane keeping support means 11 and the lane departure warning means 12 are ON ( B02).
If this determination (B02) is NO, the program is ended (B03). If this determination (B02) is YES, it is determined whether the route information is set by searching the route to the destination by the route searching means 20 of the navigation device 13 (B04).
If this determination (B04) is NO, the program shifts to the program shown in FIG. 2, and a warning generation process is executed by the lane departure prevention system 1 when the route information is not set (B05). If this determination (B04) is YES, it is determined whether there is a section S in which the lane keeping support or the lane departure warning is invalid on the route to the destination (B06).
If this determination (B06) is NO, the program shifts to the program shown in FIG. 2, and a warning generation process is executed by the lane departure prevention system 1 when the route information is not set (B05). If this determination (B06) is YES, it is determined whether there is a section S on the map displayed by the display means 16 where the lane keeping support or the lane departure warning is invalid (B07).
If this determination (B07) is NO, the process returns to determination (B04). If this determination (B07) is YES, as shown in FIG. 5, the section S where the lane keeping support or the lane departure warning becomes invalid is displayed on the map 21 displayed by the display means 16 (B08). The arrival time T until the vehicle reaches the section S where the maintenance support or the lane departure warning becomes invalid is calculated, and it is determined whether the calculated arrival time T is equal to or less than a preset value Ta (T ≦ Ta). (B09).
If this determination (B09) is NO, the process returns to determination (B04). If this determination (B09) is YES, the warning output means 7 issues a warning by voice or the like (B10), and the driver tells the location and distance of the section S where the lane maintenance assistance or lane departure warning becomes invalid. After the advance notice, the control of the lane keeping support means 11 or the lane departure warning means 12 is stopped (B11), and the process returns to the judgment (B02). The arrival time setting value Ta is changed depending on the system performance.

As described above, the lane departure prevention system 1 according to the second embodiment is illustrated in the case where there is a section S in which the lane keeping support or the lane departure warning is invalid on the route searched by the route searching unit 20 of the navigation device 13. As shown in FIG. 5, it is displayed on the map 21 displayed by the display means 16 that it is the section S where the lane keeping support or the lane departure warning becomes invalid.
Thus, according to the lane departure prevention system 1, the driver can drive the vehicle while knowing in advance the section S in which the lane keeping support or the lane departure warning becomes invalid on the route to be traveled. In addition, the driver can drive while avoiding the section S in which the lane keeping support or the lane departure warning becomes invalid.
In addition, the lane departure prevention system 1 displays the section S in which the lane maintenance support or the lane departure warning is invalid on the map 21, so that it is easy for the driver to understand.
Also, in the section S where the lane keeping support or the lane departure warning becomes invalid (where the lane keeping assistance means 11 or the lane departure warning means 12 cannot be controlled), the lane keeping assistance or the lane departure warning becomes invalid during traveling. The lane departure prevention control means 8 is provided with a storage means for storing the section S, and the section S stored in the storage means is on the route searched by the route search means 20, FIG. As shown, it may be displayed on the map 21 displayed by the display means 16 that it is the section S where the lane keeping support or the lane departure warning becomes invalid.

In the above-described embodiment, the lane departure prevention system 1 foretells that the lane keeping support or the lane departure warning becomes invalid based on the information of the navigation device 13 fixed to the vehicle. However, as shown in FIG. 22 can also implement lane maintenance support or invalid notice of lane departure warning.
In FIG. 6, a mobile phone 22 having a vehicle position information acquisition means 14, a map data storage means 15, a display means 16, a road prediction means 17, an arrival time calculation means 19, and a route search means 20 and can use a navigation function is provided. Connected to the communication line 9 via an interface such as the gateway device 23, the vehicle position information, traveling direction, and map data information are acquired from the mobile phone 22 to the lane departure prevention control means 8, and lane maintenance support or lane departure warning is issued. By making the determination, the navigation function of the mobile phone 22 can be used instead of the navigation device 13 to notify that the lane keeping support or the lane departure warning is invalid.
In the above-described embodiment, the lane departure prevention system 1 issues a warning at the radius of the curve and the arrival time regardless of the highway / general road. However, the lane keeping support or the lane departure warning is issued while the vehicle is traveling on the highway. If it becomes invalid, it is considered that the influence on the driving operation is larger than when driving on a general road. Therefore, depending on the expressway / general road, the lane maintenance support or the lane departure warning is invalidated to the driver. You may change the contents of the alarm for the advance notice. For example, even if it is determined that the lane maintenance assistance or lane departure warning is invalidated to the driver, the driver is not notified when driving on a general road, but the driver is notified when driving on a highway. You may change the contents.
In addition, if the lane maintenance support or lane departure warning is disabled at high vehicle speeds, it is considered that the driving operation will have a greater effect than at low vehicle speeds. The notification content for giving a notice may be changed according to the vehicle speed. For example, even if it is determined that the lane keeping support or the lane departure warning is invalid, the warning content may be changed so that the driver is not notified at the low vehicle speed but is notified to the driver at the high vehicle speed.
Also, not only when the radius of the curve is small, but also when the lane becomes thin or disappears, it may not be possible to detect the lane, so the points where the lane becomes thin or disappear as a database By storing the map data in the map data storage means 15, it becomes possible to notify that the lane keeping support or the lane departure warning becomes invalid before traveling at a point where the lane becomes thin or disappears.

  The present invention notifies the driver that the lane keeping support or the lane departure warning becomes invalid, so that the driver can cope with the invalid lane keeping assistance or the lane departure warning with a margin. Yes, it can be applied to two-wheeled vehicles as well as four-wheeled vehicles.

DESCRIPTION OF SYMBOLS 1 Lane departure prevention system 2 Imaging means 3 Steering angle detection means 4 Vehicle speed detection means 5 Steering motor 6 Power steering control means 7 Alarm output means 8 Lane departure prevention control means 9 Communication line 10 Lane detection means 11 Lane maintenance support means 12 Lane departure Alarm means 13 Navigation device 14 Vehicle position information acquisition means 15 Map data storage means 16 Display means 17 Road prediction means 18 Warning means 19 Arrival time calculation means

Claims (3)

Imaging means for imaging the front of the vehicle;
Lane detection means for detecting a lane marked on the road on which the vehicle travels from an image captured by the imaging means,
Lane maintenance support means for reducing the steering operation force required to travel while maintaining the lane detected by the lane detection means, and possible lane departure of the vehicle based on the lane information detected by the lane detection means In a lane departure prevention system provided with at least one of lane departure warning means for issuing a warning to a driver when it is determined that the vehicle is deviating from the lane,
Vehicle position information acquisition means for acquiring vehicle position information and traveling direction;
Map data storage means for storing map data;
Road prediction means for predicting a road on which the vehicle will travel in the future from the vehicle position information and travel direction acquired by the vehicle position information acquisition means and the map data stored by the map data storage means;
Information on the curve radius of the road predicted by the road prediction unit is acquired from the map data storage unit, and the lane maintenance support or lane departure warning is invalidated to the driver when the road curve radius is equal to or less than a preset value. A lane departure prevention system characterized by comprising warning means for notifying that Vehicle speed detection means for detecting the speed of the vehicle;
The distance between the current position of the vehicle acquired by the vehicle position information acquisition means and the position where the curve radius of the road is equal to or less than a preset value is calculated, and this distance is calculated by the vehicle speed detected by the vehicle speed detection means. An arrival time calculating means for calculating an arrival time to the curve by dividing,
The warning means notifies the driver that the lane keeping support or the lane departure warning is invalidated when the arrival time calculated by the arrival time calculation means is less than or equal to a preset value. The lane departure prevention system according to 1. Imaging means for imaging the front of the vehicle;
Lane detection means for detecting a lane marked on the road on which the vehicle travels from an image captured by the imaging means,
Lane maintenance support means for reducing the steering operation force required to travel while maintaining the lane detected by the lane detection means, and possible lane departure of the vehicle based on the lane information detected by the lane detection means In a lane departure prevention system provided with at least one of lane departure warning means for issuing a warning to a driver when it is determined that the vehicle is deviating from the lane,
Map data storage means for storing map data;
Route search means for searching for a route to the destination based on the map data stored in the map data storage means;
Display means for displaying a map,
When there is a section in which the lane keeping support or the lane departure warning becomes invalid on the route searched by the route searching means, the lane keeping assistance or the lane departure warning becomes invalid on the map displayed by the display means. A lane departure prevention system characterized by displaying a section.

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