CN113362651A

CN113362651A - Alarm issuing device and method

Info

Publication number: CN113362651A
Application number: CN202110785854.5A
Authority: CN
Inventors: 朴世旭
Original assignee: Hyundai Mobis Co Ltd
Current assignee: Hyundai Mobis Co Ltd
Priority date: 2018-10-22
Filing date: 2019-10-21
Publication date: 2021-09-07
Anticipated expiration: 2039-10-21
Also published as: KR102657326B1; KR20200045088A; CN111081062A; CN113362651B; CN111081062B

Abstract

Disclosed are an alarm issuing device and method for warning a vehicle of lane departure in an intersection approach road having a plurality of sections sequentially distinguished according to the type of lane or the presence or absence of the lane. The alarm issuing device includes: a crossroad entry determination unit that determines whether or not a vehicle enters a crossroad based on the type of the lane or the speed of the vehicle around the vehicle and determines a section in which the vehicle is traveling among the plurality of sections; and an alarm issuance/cancellation portion that determines whether to issue an alarm based on whether the vehicle is turning in the lateral direction, in a case where the crossroad entry determination portion determines that the crossroad has been entered.

Description

Alarm issuing device and method

Technical Field

The invention relates to an alarm sending device and method, wherein the device judges that the vehicle enters a Chinese solid line intersection by using lane information of the vehicle and the speed of surrounding vehicles, and sends out an alarm to prevent the vehicle from leaving the current lane.

Background

The partial crossroad features are constituted as a solid line behind the dotted line, a stop line at the end of the solid line, a crosswalk behind the stop line, a surveillance camera above the solid line. The solid line section of the intersection is 30m to 70m, and the solid line section in the tunnel is narrower than the solid line section of the ordinary road. Therefore, the driver often has to change lanes after entering the solid line of the intersection, thereby violating the traffic regulations (lane violation), requiring to accept a deduction or a fine, and being under great pressure.

The above background is technical information which is reserved for the inventor for implementing the invention or is learned in the implementation process of the invention, and may not be the publicly known technology disclosed by the general public before the application of the invention.

[ Prior art documents ]

[ patent document ]

(patent document 1) Korean patent laid-open publication No. 10-1685900

Disclosure of Invention

The present invention has been made to solve the above-mentioned problems and/or limitations, and an object of the present invention according to one aspect is to determine that a host vehicle enters a crossroad using lane information of the host vehicle and speeds of surrounding vehicles, and to issue a warning to prevent the host vehicle from departing from a current lane, thereby alleviating a lane violation pressure of a driver.

In order to achieve the above object, the present invention provides an alarm generating device for warning a vehicle of lane departure on an intersection-entering road having a plurality of sections sequentially divided according to lane type or presence/absence of the lane, the alarm generating device including: a crossroad entry determination unit that determines whether or not a vehicle enters a crossroad based on the type of the lane or the speed of the vehicle around the vehicle and determines a section in which the vehicle is traveling among the plurality of sections; and an alarm issuance/cancellation portion that determines whether to issue an alarm based on whether the vehicle is turning in the lateral direction, in a case where the crossroad entry determination portion determines that the crossroad has been entered.

The crossroad entrance determination unit may determine that the vehicle has entered the crossroad when the speed of the vehicle ahead of the own lane on which the own vehicle is traveling is reduced.

The crossroad entry determination unit may determine that the vehicle has entered the crossroad when the speed of the vehicle ahead of the left and right lanes of the own lane on which the own vehicle is traveling decreases.

The crossroad entry determination unit may determine that the vehicle has entered a crossroad when the vehicle travels through a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line in this order.

The crossroad entry determination unit may determine that the vehicle has entered a crossroad when the vehicle has traveled a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line in this order, and the speed of the vehicle ahead of the own lane in which the vehicle is traveling and the left and right lanes of the own lane is reduced.

The alarm issuing/canceling unit may issue an alarm when the steering direction of the vehicle changes after the crossroad entry determination unit determines that the host vehicle has entered the crossroad.

The alarm issuing/canceling unit may not issue the alarm when the first alarm is issued in accordance with a change in the steering direction of the vehicle and the steering direction is changed in the same direction as the first alarm after the crossroad entry determination unit determines that the host vehicle has entered the crossroad.

The alarm issuing/canceling unit may issue a second alarm when the first alarm is issued in accordance with a change in the steering direction of the vehicle and the steering direction is changed in a direction opposite to the first alarm after the crossroad entry determination unit determines that the host vehicle has entered the crossroad.

The alarm issuing/releasing section may issue an alarm in a case where the steering direction changes in the same direction as the steering direction in which the second alarm is issued after the second alarm.

The apparatus may further include a cross-road exit determination section that determines that the own vehicle enters a final section of the plurality of sections, and the alarm issuance/cancellation section cancels the alarm issuance in a case where the cross-road exit determination section determines that the vehicle enters the final section.

In order to achieve the above object, the present invention provides a method for warning a vehicle of departure from a lane on an intersection-entering road having a plurality of sections sequentially divided according to lane type or presence/absence of the lane, the method comprising: a crossroad entry determination step of determining whether or not the vehicle enters a crossroad and determining a section in which the vehicle is traveling among the plurality of sections, based on the type of the lane or the speed of the vehicle around the vehicle; and an alarm issuing/releasing step of determining whether to issue an alarm based on whether the vehicle is turning in the lateral direction, in a case where it is determined in the crossroad entry determining step that the crossroad has been entered.

In the crossroad entry judging step: when the speed of the vehicle ahead of the own-vehicle lane on which the own vehicle is traveling is decreased, it may be determined that the own vehicle has entered the intersection.

In the crossroad entry judging step: when the speed of a vehicle ahead of the left and right lanes of the own lane on which the own vehicle is traveling decreases, it may be determined that the own vehicle has entered the intersection.

In the crossroad entry judging step: the vehicle may be determined to have entered the intersection when the vehicle travels in sequence through a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line.

In the crossroad entry judging step: the vehicle may be determined to have entered the intersection when the speed of the vehicle in front of the own lane in which the vehicle is traveling and the left and right lanes of the own lane is reduced while the vehicle sequentially travels a first section in which the lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line.

In the alarm issuing/releasing step: when the steering direction of the vehicle changes after the crossroad entrance determination step determines that the host vehicle has entered the crossroad, an alarm may be issued.

In the alarm issuing/releasing step: when the first warning is issued in response to a change in the steering direction of the vehicle and the steering direction is changed in the same direction as the first warning after the crossroad entrance determination step determines that the host vehicle has entered the crossroad, the warning may not be issued.

In the alarm issuing/releasing step: when the first warning is issued in accordance with a change in the steering direction of the vehicle and the steering direction is changed in a direction opposite to the first warning after it is determined in the crossroad entry determination step that the host vehicle has entered the crossroad, a second warning may be issued.

In the alarm issuing/releasing step: after the second warning, an alarm may be issued if the steering direction changes in the same direction as the steering direction in which the second warning was issued.

The method may further include a cross-road exit determination step of determining that the own vehicle enters a final zone of the plurality of zones and canceling the alarm issuance.

Other aspects, features, and advantages in addition to those described above will become apparent from the following drawings, claims, and detailed description of the invention.

According to the embodiment, the lane information of the vehicle and the speed of the surrounding vehicle are used for judging that the vehicle enters the crossroad, and a warning is given to prevent the vehicle from leaving the current lane, so that the pressure of lane violation of the driver is relieved.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be made clear to the practitioner by the following description.

Drawings

Fig. 1 is a diagram schematically illustrating characteristics of a road including a crossroad in which an alarm issuing device according to an embodiment of the present invention can be implemented.

Fig. 2 is a drawing for schematically illustrating an alarm issuance apparatus according to an embodiment of the present invention.

Fig. 3 is a diagram showing a detailed configuration of a processor in the alarm issuing device of fig. 2 for the sake of brief description.

Fig. 4 is a diagram for explaining a case where an alarm is issued on the cross road of fig. 1 in a simplified manner.

Fig. 5 and 6 are flowcharts for explaining an alarm issuing method according to one embodiment of the present invention.

Detailed Description

The advantages, features and methods of accomplishing the same of the present invention will be apparent from the following detailed description of the preferred embodiments, read in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described below, and can be realized in various forms different from each other, and it should be understood that the present invention encompasses all modifications, equivalents, and substitutions included in the spirit and technical scope of the present invention. The following examples are put forth so as to provide a complete disclosure of the invention and to provide those skilled in the art with a complete understanding of the scope of the invention. In describing the present invention, when a specific description of the related known art is determined to possibly obscure the gist of the present invention, a detailed description thereof will be omitted.

The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include the plural expressions unless the context clearly dictates otherwise. In the present application, terms such as "including" or "having" are to be understood to indicate that there are features, numbers, steps, operations, constituent elements, components, or combinations thereof described in the specification, and do not preclude the possibility that one or more other features, numbers, steps, operations, constituent elements, components, or combinations thereof exist. The terms first, second, etc. may be used to describe various elements, but the elements cannot be defined by the terms. The terms are used for distinguishing one constituent element from other constituent elements.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the description with reference to the drawings, the same or corresponding constituent elements are given the same reference numerals, and the repetitive description thereof will be omitted.

Fig. 1 is a diagram schematically illustrating characteristics of a road including a crossroad in which an alarm issuing device according to an embodiment of the present invention can be implemented. Referring to fig. 1, a road including an intersection may include first to fifth sections 110 to 150, a monitoring camera 160. Wherein the third section 130 to the fifth section 150 and the monitoring camera 160 belong to a crossroad.

The first section 110 may include a dotted lane section in which the vehicle can travel before entering the intersection, and as one example, the first section 110 may include three lanes in fig. 1.

The second section 120 may include a blank (blank) section in which the vehicle can travel but no lane exists before entering the intersection, and may exist at a specified distance (e.g., the first distance).

The third section (130) may include a dotted lane section in which the vehicle may travel after entering the intersection, and may exist at a specified distance (e.g., the second distance). The third section 130 may include a section configured with more lanes than the first section 110, and the third section 120 may include four lanes in fig. 1 as an example. The lane width of the third section 120 may be narrower than the lane width of the first section 110.

The fourth section 140 may include a solid lane section in which the vehicle may travel after entering the intersection, and may be composed of the same number of lanes as the third section 130. The lane width of the fourth section 140 may be the same as the lane width of the third section 130. The fourth section 140 has a monitoring camera 160, and when the vehicle leaves the lane in the fourth section 140, it is determined that the vehicle violates the traffic regulation and the image can be captured by the license plate of the vehicle. The end of the fourth section 140 further includes a stop line 141 to which the vehicle should be stopped when a red light of a signal lamp (not shown) located in front is lighted.

The fifth zone 150 may include a crosswalk behind the stop line 141.

Fig. 2 is a diagram schematically illustrating an alarm issuance apparatus according to an embodiment of the present invention, and fig. 3 is a diagram schematically illustrating a detailed configuration of a processor in the alarm issuance apparatus of fig. 2. Referring to fig. 2 and 3, the alarm issuing device 200 may include an image capturing unit 210, a speed sensing unit 220, a memory 230, a processor 240, and an alarm output unit 250. In this embodiment, the processor 240 may include a crossroad entrance determination part 241, an alarm issuing/releasing part 242, and a crossroad exit determination part 243, and the alarm output part 250 may include a sound output part 251, a display part 252, and a steering wheel (steering wheel) 253.

The image capturing unit 210 may include a camera, which is disposed in the vehicle and captures an image frame around the vehicle. The image frame captured by the image capturing unit 210 may be output to the processor 240. The camera is a camera that photographs a subject in a photographing region by using a complementary metal-oxide semiconductor (cmos) module (not shown) or a Charge Coupled Device (CCD) module (not shown), for example, and the input image frame is provided through a lens (not shown) by the cmos module or the CCD module, and the cmos module or the CCD module can convert an optical signal of the subject passing through the lens into an electrical signal and output the electrical signal. The camera has a video signal processing unit (not shown) therein, and can perform video signal processing for improving image quality such as gamma correction, color filter interpolation, color matrix, color correction, color enhancement, and the like, by reducing noise with respect to a captured video frame. The video signal processing unit may also perform functional color processing, blur (blur) processing, edge enhancement processing, video analysis processing, video recognition processing, video effect processing, and the like. The image recognition process can perform face recognition and scene recognition. For example, brightness level adjustment, color compensation, contrast adjustment, contour enhancement adjustment, screen division processing, generation of a feature (Character) image, and the like, and image synthesis processing, and the like may be performed.

The speed sensing part 220 may sense a current speed of the vehicle. The speed sensing part 220 senses a wheel rotation speed of the vehicle or a rotation speed of an output shaft of a transmission connected to an engine of the vehicle, so that a current speed of the vehicle can be calculated. And the speed sensing part 220 can sense the speed of an object (e.g., a nearby vehicle) around the vehicle. For this, the speed sensing part 220 may be further provided with a radar sensor (not shown). The radar sensor is provided in the vehicle, swings the radar, receives a signal from an object (for example, a surrounding vehicle), and outputs the signal to the processor 240, and the processor 240 calculates one or more of longitudinal distance information, lateral distance information, relative velocity information, relative acceleration information, and movement information of the object between the vehicle and the object, using the signal output from the radar sensor.

The memory 230 may store various data and programs for controlling the alarm issuing device 200. For example, if the value of the steering angle is greater than 0, centering on 0, information indicating that the steering wheel 253 is moving in a first direction (e.g., left side) can be stored; if the value of the steering angle is less than 0, centering on 0, information indicating that the steering wheel 253 is moving in the second direction (for example, the right side) can be stored.

Further, the program stored by memory 230 may include more than one instruction. In this embodiment, the program (one or more instructions) stored in the memory 230 can be accessed (accessed) and executed by the processor 240. Wherein the instructions may include first to eighth instructions.

The first instructions may include the following program: the image frame photographed by the image photographing part 210 and the speed signal of the speed sensing part 220 are received, and it is determined that the vehicle is decelerated in front of a road including an intersection where the vehicle travels, the road being composed of the first section 110 to the fifth section 150. This is because vehicles entering the crossroads are generally subject to deceleration.

The second instruction may include the following program: the image frame captured by the image capturing unit 210 and the speed signal of the speed sensing unit 220 are received, and the deceleration of the vehicle on the left, right, and front sides of the lane is determined. This is because vehicles entering the crossroads are generally subject to deceleration.

The third instruction may include the following program: the image frame captured by the image capturing unit 210 is received, and the lane type is determined, thereby determining a change from the third section 130 indicated by the dotted line to the fourth section 140 indicated by the solid line.

The fourth instruction may include the following program: the lane type is changed from the third section 130 to the fourth section 140 and the vehicle on the left, right, and front side is decelerated when the image frame captured by the image capturing unit 210 and the speed signal of the speed sensing unit 220 are received, and it is determined that the vehicle has entered the intersection.

Wherein the first to fourth instructions are concurrently executable in parallel.

The fifth instructions may include the following program: after the first to fourth instructions are executed, in the fourth section 140, an alarm issuance condition is generated when the vehicle travels in any one of the first direction, the second direction, and the second direction from the current travel lane. By execution of the fifth instruction, in the case where the alarm issuance condition is satisfied, the alarm issuance signal is transmitted to the alarm output section 250, so that the alarm can be output.

The sixth instruction may include the following program: when the vehicle starts to enter the fifth section 150, a condition for alarm release is generated. By execution of the sixth instruction, the vehicle advances from the crossroad, so that the warning of departure from the crossroad lane is no longer output.

The seventh instruction may include the following program: when the vehicle travels in the first direction from the current lane and then travels in the first direction again, or when the vehicle travels in the second direction from the current lane and then travels in the second direction again, an alarm release condition is generated. The vehicle can send out the alarm signal once when the vehicle runs in the same direction twice in the current lane, and can send out the alarm signal twice when the vehicle runs in the second direction after running in the first direction in the current lane. The change in the traveling direction of the vehicle can then be determined as the intention of the driver without issuing a warning.

The eighth instruction may include the following program: in order to prevent the false recognition of the fourth section 140, if there is a preceding vehicle ahead of the current vehicle and the distance between the two vehicles is within a certain distance, the entry of the fourth section 140 is accurately determined based on the previous running condition of the current vehicle. Here, if there is a preceding vehicle ahead of the current vehicle and the distance between the two vehicles is within a certain distance, an error may occur in which the fourth section 140 is judged as a dotted section instead of a solid section. Therefore, if there is a preceding vehicle ahead of the current vehicle and the distance between the two vehicles is within the specific distance, the previous running condition of the current vehicle is determined, and when it is determined that a dotted section occurs after the first to third sections 110 to 130 are run, the dotted section may be determined as the solid line of the fourth section 140.

Such memory 230 may include internal memory and/or external memory, and may include volatile memory like DRAM, SRAM, SDRAM, or the like; nonvolatile memories like One Time Programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash, NOR flash, and the like; flash drives (flash drives) like the SSD CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, memory stick; storage devices similar to HDDs.

The processor 240 may control the overall operational state of the alarm issuing device 200. Such a processor 240 serves as a central processing unit that drives control software loaded in an internal memory (not shown), thereby providing various functions. The "processor (processor) 240" is a data processing apparatus, and has a structured circuit and is built in hardware, for example, to execute functions expressed by codes and commands included in a program. Thus, although an example of a data processing apparatus built in hardware may include the following processing apparatus, the scope of the present invention is not limited thereto: a microprocessor (microprocessor), a Central Processing Unit (CPU), a processor core (processor core), a multiprocessor (multiprocessor), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA), and the like.

In this embodiment, the processor 240 may include an intersection entrance determination section 241, an alarm issuing/releasing section 242, and an intersection exit determination section 243. The processor 240 accesses the memory 230 to execute the first to sixth instructions, and performs organized (organized) operations with the intersection entry determination section 241, the alarm issuing/releasing section 242, and the intersection exit determination section 243, thereby generating an alarm issuing signal or generating an alarm issuing release signal.

The crossroad entry determination section 231 accesses the memory 230 and executes the first to fourth commands, thereby making it possible to determine that the vehicle enters the crossroad. The crossroad entrance determination unit 231 senses the speed of the vehicle ahead of the own lane and the speed of the own vehicle, determines whether the speed of the own lane ahead decreases, and can determine whether the own vehicle enters the crossroad. In a state where the speed of the vehicle ahead of the own-vehicle lane is reduced, the crossroad entrance determination unit 231 senses the speeds of the left, right, and front vehicles of the own vehicle and the speed of the own vehicle, determines whether the speeds of the left, right, and front vehicles of the own vehicle are reduced, and can determine whether the own vehicle enters the crossroad. The crossroad entry determination part 231 may determine whether the lane type is a dotted line or a solid line in real time using the image frame while traveling in the first section 110 to the fifth section 150. The intersection entrance determination unit 231 determines whether the vehicle has entered the third section 130 of the broken line section and the fourth section 140 of the solid line section by using the image frame through the first section 110 and the second section 120, and can determine whether the vehicle has entered the intersection. When the lane type is changed from the third section 130 to the fourth section 140 and the speed of the vehicle in the own lane and the speeds of the vehicles on the left, right, and front sides are decreased, the crossroad entry determination portion 231 may finally determine that the crossroad has been entered.

The alarm issuance/cancellation section 242 accesses the memory 230 and executes the fifth instruction after the first to fourth instructions are executed, so that an alarm signal can be generated. The warning issuing/releasing section 242 may generate a warning signal once when the vehicle travels in the first direction from the current lane. Further, the warning issuing/releasing section 242 may generate a warning signal once when the vehicle travels in the second direction from the current lane. In addition, the alarm issuing/releasing section 242 may generate a secondary alarm signal when the vehicle travels in the second direction after traveling in the first direction. The alarm issuance/cancellation unit 242 accesses the memory 230 and centers on 0, and determines that the steering wheel 253 is moving in a first direction (for example, left side) if the value of the steering angle is greater than 0; centering on 0, if the value of the steering angle is less than 0, it is determined that the steering wheel 253 is moving in a second direction (e.g., right).

The alarm issuing/releasing section 242 may release generation of the alarm signal by executing a sixth command, which will be described later. In other words, the alarm issuance/cancellation portion 242 may cancel the alarm signal generation when the vehicle enters the fifth section 150.

The alarm issuing/releasing section 242 may release the alarm signal generation by executing the seventh command after the execution of the fifth command. In other words, the alarm issuing/releasing section 242 may release the generation of the alarm signal when the vehicle travels in the first direction again after traveling in the first direction from the current lane, or when the vehicle travels in the second direction again after traveling in the second direction from the current lane. Further, when the vehicle travels in the second direction after traveling in the first direction from the current traveling lane, and then travels in the first direction again, the generation of the warning signal may be cancelled.

Fig. 4 is a diagram for explaining a case where an alarm is issued on the cross road of fig. 1 in a simplified manner. Referring to fig. 4, (a) of fig. 4 shows that the warning signal may be generated once when the vehicle starts to travel in the first direction from the current lane after the vehicle starts to enter the fourth section 140 from the third section 130. However, when the vehicle again travels in the first direction after the alarm signal is generated, the generation of the alarm signal may be cancelled.

Fig. 4 (b) shows that the warning signal may be issued once when the vehicle starts traveling in the second direction from the current lane after the vehicle starts traveling from the third section 130 to the fourth section 140. However, when the vehicle again travels in the second direction after the alarm signal is generated, the generation of the alarm signal may be cancelled.

Fig. 4 (c) shows a case where the vehicle starts to enter the fourth section 140 from the third section 130, then travels in the first direction from the current lane, and then travels in the second direction, and a secondary warning signal may be generated. However, when the vehicle again travels in the first direction after the alarm signal is generated, the generation of the alarm signal may be cancelled.

The intersection exit judging section 243 accesses the memory 230 and executes the sixth command, so that the vehicle can be judged to proceed to the intersection. In other words, the intersection exit determination section 243 determines that the intersection is advancing when the vehicle starts to enter the fifth section 150, and may cancel the alarm signal from being issued.

As an alternative embodiment, the processor 240 accesses the memory 230 and executes the eighth instruction, so that the misrecognition of the fourth section 140 can be prevented. If there is a preceding vehicle ahead of the currently running vehicle and the distance between the two vehicles is within a certain distance, an error may occur in which the fourth section 140 is judged as a dotted section rather than a solid section. Accordingly, if there is a preceding vehicle ahead of the current vehicle and the distance between the two vehicles is within the specific distance, the processor 240 determines the previous running condition of the current vehicle, so that when it is determined that a dotted section occurs after the first section 110 to the third section 130 are run, the dotted section may be determined as the solid line of the fourth section 140.

The alarm output part 250 receives an alarm generation signal or an alarm release signal transmitted from the processor 240, and thus may output an alarm. The sound output portion 251 may output a sound signal so that the driver can hear the warning signal, and the display portion 252 may output a display signal so that the driver can see the warning signal, and the steering wheel 253 may output a vibration signal so that the driver can feel the warning signal.

Fig. 5 and 6 are flowcharts for explaining an alarm issuing method according to one embodiment of the present invention. In the following description, a part overlapping with the description of fig. 1 to 4 will be omitted from description thereof.

Referring to fig. 5, in step S510, the alarm issuing device 200 executes a first command to determine that the vehicle has entered the intersection. Fig. 6 is a flowchart for explaining a method of determining that a vehicle enters a crossroad.

Referring to fig. 6, in step S511, the alarm generating device 200 determines the vehicle speed of the surrounding vehicle. The warning issuing device 200 can calculate the speed of the host vehicle, can calculate the speed of the nearby vehicle using the radar sensor, and can determine whether the speed of the nearby vehicle decreases or increases based on the speed of the host vehicle.

In step S512, the warning issuing device 200 determines whether the speed of the preceding vehicle in the same lane as the host vehicle is decreasing.

In step S513, the warning issuing device 200 determines whether or not the speeds of the vehicles on the left side, the right side, and the front side of the host vehicle are reduced, in a state where it is determined that the speed of the vehicle in front in the same lane as the host vehicle is reduced.

In the S514 step, while traveling in the first to fifth sections 110 to 150, the warning issuing device 200 may determine the front lane type using the picture frame.

In step S515, the warning issuing device 200 determines whether the front lane type is a broken line using the picture frame.

In the step S516, if the front lane type is the broken line, the warning issuing device 200 immediately determines whether the front lane type is changed from the broken line to the solid line. In the case where the front lane type is changed from the dotted line to the solid line, the alarm sound device 200 may determine the dotted line section as the third section 130 and the solid line section as the fourth section 140.

In step S517, when the front lane type is changed from the broken line (third zone) 130 to the solid line (fourth zone) 140, the warning sound device 200 determines whether the speed of the vehicle at one or more positions of the front, left, and right sides of the host vehicle is reduced.

In step S518, when the current lane type is changed from the broken line (third section) 130 to the solid line (fourth section) 140 and the speed of the vehicle at one or more of the front, left, and right positions of the host vehicle decreases, the alarm issuance device 200 determines that the vehicle has entered the intersection.

Returning to fig. 5, in step S520, the alarm issuing device 200 executes a fifth instruction to issue an alarm if the alarm issuing condition is satisfied.

In step S530, the alarm issuing device 200 executes the sixth command to determine whether or not to proceed to the intersection. The crossroad advance determination may include, among other things, the vehicle entering the fifth zone 150.

In step S540, the alarm issuing device 200 executes the seventh instruction to cancel the alarm issuance.

The embodiments of the present invention described above can be realized as a computer program that can be run on a computer by various components, and such a computer program can be recorded on a computer-readable medium. In this case, the media may include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROM and DVD, magneto-optical media such as floppy disks (floppy disks); a hardware device such as a ROM, a RAM, and a flash memory, which is configured to store and execute a program command.

The computer program is designed and configured to implement the present invention, or is known to be usable by a person skilled in the art of computer software. As an example of the computer program, a high-level language code that can be run by a computer by using a machine language code similar to that created by a compiler, and using an interpreter (interpreter) or the like can be included.

The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural. In the present invention, when a range (range) is described, the invention includes the application of individual values belonging to the range (if there is no description contrary to this), and the individual values constituting the range are described similarly to the detailed description of the invention.

As to the steps constituting the method of the present invention, if the order is explicitly described or not stated to the contrary, the steps may be performed in an appropriate order. The order in which the steps are described is not intended to necessarily limit the invention. The use of all examples or exemplary terms (e.g., etc.) herein is intended merely to illuminate the invention in detail and does not pose a limitation on the scope of the invention unless otherwise claimed. Further, the present invention is not limited to the above-described embodiments, and various modifications, combinations, and alterations can be made by those skilled in the art.

Therefore, the concept of the present invention is not limited to the embodiments described above, and the present invention is not limited to the scope of the claims described below, and the scope of the present invention is defined by the claims and the full range of modifications equivalent to the scope of the claims.

Claims

1. An alarm issuing device for warning a vehicle of lane departure on an intersection entry road having a plurality of sections sequentially distinguished according to the type of lane or the presence or absence of the lane, comprising:

a crossroad entry determination unit that determines whether or not a vehicle enters a crossroad based on the type of the lane or the speed of the vehicle around the vehicle and determines a section in which the vehicle is traveling among the plurality of sections; and

an alarm issuance/cancellation portion that determines whether to issue an alarm based on whether the vehicle is turning in the lateral direction, in a case where the crossroad entry determination portion determines that the crossroad has been entered.

2. Alarm issuing device according to claim 1,

the intersection entrance determination unit determines that the vehicle has entered an intersection when the speed of the vehicle ahead of the own lane on which the own vehicle is traveling is reduced.

3. Alarm issuing device according to claim 1,

the crossroad entry determination unit determines that the vehicle has entered a crossroad when the speed of the vehicle ahead of the left and right lanes of the own lane on which the own vehicle is traveling decreases.

4. Alarm issuing device according to claim 1,

the crossroad entry determination unit determines that the vehicle has entered a crossroad when the vehicle travels in sequence through a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line.

5. Alarm issuing device according to claim 1,

the crossroad entry determination unit determines that the vehicle has entered a crossroad when the vehicle has traveled a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line in this order, and the speed of the vehicle ahead of the own lane in which the vehicle is traveling and the left and right lanes of the own lane is reduced.

6. Alarm issuing device according to claim 1,

the alarm issuing/canceling unit issues an alarm when the steering direction of the vehicle changes after the crossroad entry determination unit determines that the host vehicle has entered the crossroad.

7. The alarm signaling device of claim 6,

the alarm issuing/canceling unit does not issue the alarm when the crossroad entry determination unit determines that the host vehicle has entered the crossroad, issues a first alarm in accordance with a change in the steering direction of the vehicle, and changes the steering direction in the same direction as the first alarm.

8. The alarm signaling device of claim 6,

the alarm issuing/canceling unit issues a second alarm when the vehicle enters the intersection, and the first alarm is issued in response to a change in the steering direction of the vehicle, and the steering direction changes in a direction opposite to the first alarm.

9. The alarm signaling device of claim 8,

the alarm issuing/canceling unit issues an alarm when the steering direction changes in the same direction as the steering direction in which the second alarm is issued after the second alarm.

10. Alarm issuing device according to claim 1,

further comprising a cross-road exit determination section that determines that the own vehicle enters a final section of the plurality of sections,

the alarm issuance/cancellation section cancels the alarm issuance in a case where it is judged by the intersection exit judgment section that the vehicle enters the final section.

11. A warning issuing method of warning a vehicle of lane departure in an intersection entering road having a plurality of sections sequentially distinguished according to a type of lane or presence or absence of the lane, comprising:

a crossroad entry determination step of determining whether or not the vehicle enters a crossroad and determining a section in which the vehicle is traveling among the plurality of sections, based on the type of the lane or the speed of the vehicle around the vehicle; and

and an alarm issuing/canceling step of determining whether or not to issue an alarm based on whether or not the own vehicle is turning in a lateral direction when it is determined in the crossroad entry determining step that the own vehicle has entered the crossroad.

12. The alarm issuing method according to claim 11,

in the crossroad entry judging step: when the speed of a vehicle ahead of the own-vehicle lane on which the own vehicle is traveling is reduced, it is determined that the own vehicle has entered the intersection.

13. The alarm issuing method according to claim 11,

in the crossroad entry judging step: when the speed of a vehicle ahead of the left and right lanes of the own lane on which the own vehicle is traveling decreases, it is determined that the own vehicle has entered the intersection.

14. The alarm issuing method according to claim 11,

in the crossroad entry judging step: and determining that the vehicle has entered the intersection when the vehicle travels in the first section in which the lane is the broken line, the second section in which the lane is absent, the third section in which the lane is the broken line, and the fourth section in which the lane is the solid line in this order.

15. The alarm issuing method according to claim 11,

in the crossroad entry judging step: the method includes determining that the vehicle has entered a crossroad when the vehicle has traveled in the order of a first section in which a lane is a broken line, a second section in which no lane exists, a third section in which the lane is a broken line, and a fourth section in which the lane is a solid line, and the speed of the vehicle in front of the own lane in which the vehicle is traveling and the left and right lanes of the own lane is reduced.

16. The alarm issuing method according to claim 11,

in the alarm issuing/releasing step: and issuing an alarm when the steering direction of the vehicle changes after the vehicle is determined to have entered the crossroad in the crossroad entry determination step.

17. The alarm issuing method according to claim 16,

in the alarm issuing/releasing step: when it is determined in the crossroad entry determination step that the host vehicle has entered the crossroad, a first alarm is issued in response to a change in the steering direction of the vehicle and the steering direction is changed in the same direction as the first alarm, the alarm is not issued.

18. The alarm issuing method according to claim 16,

in the alarm issuing/releasing step: when it is determined in the crossroad entry determination step that the host vehicle has entered the crossroad, a first alarm is issued in accordance with a change in the steering direction of the vehicle and the steering direction changes in a direction opposite to the first alarm, a second alarm is issued.

19. The alarm issuing method according to claim 18,

in the alarm issuing/releasing step: and issuing an alarm if the steering direction changes in the same direction as the steering direction in which the second alarm was issued after the second alarm.

20. The alarm issuing method according to claim 11,

and a step of judging that the vehicle enters a final section of the plurality of sections and releasing the alarm.