JP2001344687A - Steering drive supporting device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To compatibly suppress the influence of an erroneous alarm on a driver and evade the state that an alarm is not issued though the alarm is required. SOLUTION: An image sensor 5 and a magnetic nail sensor 6 are used for recognizing a traveling path. By the difference of the values of the side shift of a vehicle by both sensors, the reliability of traveling path recognition is judged (32). Also, when it is judged that the vehicle deviates from a lane (33), the driver is alarmed by vibration torque application (34) and return torque application (35), and the alarm is changed corresponding to the reliability of the traveling path recognition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle driving assist system for recognizing a traveling road and assisting steering operation in driving an automobile or the like.

[0002]

2. Description of the Related Art As a conventional example of a driving assistance device for detecting a positional relationship between a vehicle and a traveling road and preventing the vehicle from departing from the lane,
For example, there is one disclosed in JP-A-10-167099. The prior art disclosed in Japanese Patent Application Laid-Open No. 10-167099 discloses a travel path recognition unit that recognizes a travel path on which a vehicle travels, and whether or not the vehicle is likely to deviate from the travel path based on the recognition result of the travel path. And steering control of the steered wheels in a situation where the vehicle is likely to deviate from the running path based on the determination result, and vibrating the steered wheels to alert the driver to prevent lane departure of the vehicle. Further, in the traveling road recognition means disclosed in Japanese Patent Application Laid-Open No. 4-255910, a magnetic nail is embedded on the road, and the positional relationship between the vehicle and the magnetic nail is detected by an on-board magnetic nail sensor or the like, and the traveling state of the vehicle is detected. It recognizes.

[0003]

In the driving support apparatus disclosed in Japanese Patent Application Laid-Open No. 10-167099, a lane marking on a road is detected by an image sensor or the like as a lane recognizing means. Means for recognizing the traveling road are shown, but poor recognition of the traveling road often occurs due to dirt on the lane markings, intermittent lane markings, sudden changes in peripheral brightness, and the like. Further, in the method disclosed in Japanese Patent Application Laid-Open No. Hei 4-255910, recognition failure often occurs due to the influence of a magnetic material such as an iron material used for a bridge or the like. As described above, it is generally difficult to reliably recognize the traveling path.

[0004] Therefore, as a driving assistance device for preventing a lane departure by determining whether or not the vehicle is likely to deviate from the lane on the basis of the recognition result of the lane, the driving lane must be surely detected. There is a warning or a driving support control for steering only when the driver is aware of it.However, poor recognition of the traveling road often occurs, so no warning is issued even though the vehicle actually deviates from the lane. For example, there is a problem that an alarm is not generated in a state where an alarm should be generated, which is not practical.

[0005] In order to avoid such lack of practicality, even if complete recognition of the traveling road is not possible, if a certain degree of recognition is possible, an alarm or driving assistance control for steering is performed. Although it is possible to do so, the driver's driving operation is often hindered by a false alarm operation due to an erroneous determination based on incomplete recognition of the traveling path. Furthermore, there is a possibility that psychological anxiety may be caused by this, and in the worst case, there is a problem that there is a danger of falling into a panic state.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is intended to determine the reliability of recognition of a traveling road and to prevent lane departure according to the reliability. It is an object of the present invention to provide a vehicle steering and driving support device that changes the warning method and amount of the vehicle.

[0007]

According to a first aspect of the present invention, there is provided a vehicle steering and driving assistance system which recognizes a traveling path on which a vehicle travels based on a traveling path recognized by the traveling path recognizing means. Condition determination means for determining whether or not the vehicle is likely to deviate from the travel path, and issues a warning to the driver in a situation in which the vehicle is likely to deviate from the travel path based on the determination result of the situation determination means. In the driving support device, a travel path recognition reliability determining means for determining the reliability of the travel path recognition performed by the travel path recognition means, and a reliability of the travel path recognition determined by the travel path recognition reliability determination means. Alarm control means for changing an alarm method.

According to a second aspect of the present invention, there is provided a vehicle driving assist system which recognizes a traveling path on which a vehicle travels, and recognizes a traveling path based on a result of the recognition of the traveling path by the traveling path recognizing means. A situation determining means for determining whether or not the vehicle is likely to deviate; and a steering driving support device for a vehicle that issues a warning to a driver in a situation where the vehicle is likely to deviate from the traveling path based on the determination result of the situation determining means. Roadway recognition reliability determining means for determining the reliability of the roadway recognition performed by the road recognition means, and quantitatively changing an alarm according to the reliability of the roadway recognition determined by the roadway recognition reliability determining means Alarm control means.

According to a third aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, further comprising a plurality of different traveling path recognition means, wherein the traveling path recognition reliability determining means comprises: The reliability is determined from the degree of coincidence of the recognition result of the traveling road recognized by each means.

According to a fourth aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, wherein the travel path recognizing means is an image sensor for recognizing a lane marking. The degree determination means determines the reliability of the travel path recognition from the angle formed by the travel path dividing line recognized by the travel path recognition means and the vehicle traveling direction or the vehicle center line.

According to a fifth aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, wherein the travel path recognizing means is an image sensor for recognizing a lane marking. The degree judging means judges the reliability of the recognition of the traveling road from the interval between the left and right lane markings recognized by the traveling road recognizing means.

According to a sixth aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, wherein the travel path recognizing means is an image sensor for recognizing a lane marking. The degree determination means determines the reliability of the recognition of the traveling path from the transmittance of the atmosphere around the vehicle.

According to a seventh aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, wherein the traveling path recognition reliability determining means determines a recognition result of the traveling path recognized by the traveling path recognition means. The reliability of the recognition of the traveling road is determined from the magnitude of the change in the positional relationship with the vehicle.

According to an eighth aspect of the present invention, there is provided the steering driving assist system for a vehicle according to the first or second aspect, wherein the traveling path recognition reliability determining means performs the traveling path recognition last. The reliability of the travel road recognition is determined based on the time that has elapsed since.

According to a ninth aspect of the present invention, there is provided a steering driving assist system for a vehicle according to the first or second aspect, wherein the traveling road recognition reliability determining means includes means for specifying a vehicle position;
It consists of a map database having the reliability of the recognition of the traveling road at each position as a database.

According to a tenth aspect of the present invention, in the vehicle driving assist system according to the first aspect, the method of alarming that changes in accordance with the reliability of the recognition of the traveling road includes adding vibration to the steering wheel, applying a vibration to the steering wheel. This is selected from the addition of motion in the direction of correcting the deviation and the combination of both.

According to an eleventh aspect of the present invention, in the vehicle driving assist system according to the second aspect, the vibration is given to the steering wheel as a warning, and the amplitude of the vibration increases as the reliability of the recognition of the traveling road increases. It is to become.

According to a twelfth aspect of the present invention, in the vehicle driving assist system according to the second aspect, vibration is given to the steering wheel as an alarm, and the frequency of the vibration increases as the reliability of the recognition of the traveling road increases. It is to become.

According to a thirteenth aspect of the present invention, there is provided the steering driving assist system for a vehicle according to the second aspect, wherein intermittent vibration is given to the steering wheel as an alarm, and the vibration is repeated as the reliability of the recognition of the traveling road increases. The period is shortened.

According to a fourteenth aspect of the present invention, there is provided the steering driving assist system for a vehicle according to the second aspect, in which an operation in a direction to correct the deviation is given to the steering wheel as an alarm, and the reliability of the recognition of the traveling road is increased. Thus, the steering torque of the operation is increased.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 This embodiment is an example in which an image sensor and a magnetic nail sensor are used as two types of different traveling road recognition means. FIG. 1 is an explanatory diagram showing a schematic configuration and a traveling path of a vehicle steering driving support device according to a first embodiment.

In the figure, 1 is a vehicle such as an automobile, 2 is a traveling road on which the vehicle 1 travels, 3 is a lane dividing line which is a lane dividing line, and 4 is a magnetic nail embedded in the lane center of the traveling road 2. Reference numeral 5 denotes an image sensor for recognizing the lane marking 3, reference numeral 6 denotes a magnetic nail sensor for recognizing a magnetic nail, and the image sensor 5 and the magnetic nail sensor 6 are running path recognition means. Reference numeral 7 denotes a processing device for performing processing by obtaining recognition results from the image sensor 5 and the magnetic nail sensor 6, reference numeral 8 denotes an actuator for driving the steering of the vehicle 1 based on the processing result of the processing device 7, and reference numeral 9 denotes a steering wheel. Vehicle 1
The vehicle travels while recognizing the lane marking 3 and the position of the magnetic nail 4 by the image sensor 5 and the magnetic nail sensor 6.

First, the operation of the image sensor will be described with reference to FIGS. 2 is a processing block diagram of the image sensor 5 shown in FIG. 1, FIG. 3 is a screen diagram obtained by the camera 11 shown in FIG. 2, and FIG. 4 is a mapping diagram obtained by mapping the screen of FIG. is there. In FIG. 2, the lane is photographed by the camera 11, and in the lane marking detection processing 12, the screen is scanned horizontally as shown in FIG. 3, and the lane marking 3 is searched left and right from the center of the scanning line 28. The detected position is defined as a detection point 16. Reference numeral 29 denotes a vehicle center line in the traveling direction. There may be a place where an error occurs at the detection point 16 due to the road surface dirt 17 or the like. These detection points 16 are sent to the mapping processing 13. In the mapping process 13, the lane marking detection process 1
The detection point 16 at 2 is mapped on a plane whose normal line is the vertical direction of the vehicle 1. FIG. 4 shows the mapping. From the mapped detection point 16, the secondary approximation curve 1
8 is obtained, and a parameter describing the curve is output to the processing device 7 as a travel path recognition result. Here, the detection point 16 is approximated by a quadratic curve, but may be approximated by another curve such as a circular arc if the curve is smooth.

Next, the operation of the magnetic nail sensor will be described with reference to FIGS. FIG. 5 is an explanatory diagram showing the positional relationship between the vehicle and the magnetic nail, and FIG. 6 is a processing block diagram of the magnetic nail sensor 6 shown in FIG. As shown in FIG. 5, when the magnetic sensor 31 attached to the vehicle 1 passes over the magnetic nail 4 embedded in the center of the lane, the magnetic nail sensor 6 outputs a magnetic signal output from the magnetic sensor 21. From the detected waveform, the magnetic nail detection process 22 shown in FIG.
Then, the lateral displacement D between the center of the vehicle 1 and the magnetic nail 4 is detected and output to the processing device 7.

Next, the operation of the processing apparatus will be described with reference to FIGS. FIG. 7 is a processing block diagram of the processing device 7 shown in FIG. The processing results of the image sensor 5 and the magnetic nail sensor 6 described above are input to the processing device 7. In the lateral displacement calculation processing 31 for obtaining the lateral displacement from the traveling road recognition result of the image sensor 5, the center line 19 is placed in the middle of the two quadratic approximation curves 18 as the recognition result shown in FIG. Then, the lateral deviation from the vehicle center line 29 is calculated using this as the center line of the traveling road.

The difference between the lateral deviation determined by the image sensor 5 and the lateral deviation determined by the magnetic nail sensor 6 is input to a reliability determination process 32 which operates as a traveling road recognition reliability determination unit, and the reliability is determined. The smaller the difference between the two, the higher the reliability.

Also, from the processing result of the image sensor 5,
In a vehicle departure determination process 33 that operates as a situation determination unit,
It is determined whether the vehicle has deviated from the lane. If the vehicle has deviated, the vibration torque addition 34 and the return torque addition 35 are performed.
Then, a vibration torque and a return torque, that is, a steering torque in a direction to correct the deviation are given, and the magnitude is changed according to the reliability determination result. That is, if the reliability is high, the actuator 8 is alarm-driven by the actuator driver 36 so that a large amplitude vibration and a large return torque are given, and if the reliability is low, a small amplitude vibration and a small return torque are given. The actuator 8 gives a vibration to the steering handle 9. As described above, the operation of the alarm control means that applies vibration to the steering wheel 9 and drives the steering handle 9 in the direction to correct the deviation includes the addition of the vibration torque 34.
And the return torque addition 35 operates to issue a warning to the driver.

In the above description, only the difference of the lateral displacement is input to the reliability determination processing 32, but the input of the vehicle speed, the yaw rate and the like may be used together. Further, the vibration frequency of the alarm may be changed by changing the vibration frequency according to the reliability, and the higher the reliability, the higher the frequency. In addition, intermittent vibration may be applied so that the higher the reliability, the shorter the repetition period. Further, depending on the reliability, the warning method may be used in place of the vibration torque, the return torque, or a combination thereof.

According to this embodiment, the magnitude of the alarm is changed based on the determination result of the reliability of the travel road recognition.
It is possible to achieve both the suppression of the influence of the false alarm on the driver and the avoidance of a situation in which the driver is not warned despite being out of the lane. In addition, since the recognition results of the traveling roads recognized by different recognition methods are compared with each other and the degree of reliability is obtained from the coincidence, the lane markings of the traveling road are not clear or special markings are made on the traveling road. For example, when the recognition target is unclear, the influence of the recognition failure can be suppressed.

Embodiment 2 FIG. This embodiment is an example in which two types of different traveling path recognition means are provided in the same image sensor with two different processing methods. FIG. 9 is an explanatory diagram illustrating a schematic configuration of a vehicle steering operation device according to the second embodiment. The illustrated components are the same as those in the first embodiment (FIG. 1), and thus description thereof is omitted.

The operation of the image sensor will be described.
FIG. 10 is a processing block diagram of the image sensor 5.
In the figure, operations 11 and 12 are performed in the first embodiment (FIG. 2).
Therefore, the description is omitted. The detection points of the processing result of the mapping processing 13 are the same as those in the first embodiment.
In addition to the approximation of the curve by 4 and the transmission of a quadratic approximation curve parameter 41 describing the curve to the processing device 7, the mapping process 13 directly sends detection point data 42 describing the detection point itself to the processing device 7.

Next, the operation of the processing device will be described.
FIG. 11 is a processing block diagram of the processing device 7. A quadratic curve parameter 41 and detection point data 42 are input to the reliability determination processing 32. 12 and 13 are mapping diagrams obtained by the mapping process 13. FIG. 12 shows a polygonal line 43 drawn by connecting the detection points 16 with straight lines in order. FIG. 13 shows a quadratic approximate curve 18 represented by a quadratic approximate curve parameter 41.
And a broken line 43 connecting the detection points 16 represented by the detection point data 42 with straight lines. In the reliability determination process 32, the reliability of the travel path recognition is determined based on the area S of the black portion in the figure surrounded by the two. That is, it is determined that the smaller the area S, the higher the reliability. Other operations of the illustrated portions are the same as those of the first embodiment (FIG. 7), and thus description thereof is omitted.

According to this embodiment, when the detection point 16 of the lane marking 3 greatly shifts due to dirt on the road surface or the like, it is possible to suppress the influence of a false alarm caused thereby on the driver.

Embodiment 3 This embodiment is an example in which the reliability of travel road recognition is determined from the angle formed by the lane marking and the vehicle center line. The schematic configuration of the apparatus is described in Embodiment 2.
Since the operation is the same as that of FIG. 9 and the operation of the image sensor is the same as that of the second embodiment (FIG. 10), a description thereof will be omitted. The operation of the processing device will be described. FIG.
Is a processing block diagram of the processing device, FIG. 15 is a screen diagram of a camera of the image sensor, and FIG. 16 is a mapping diagram obtained by mapping the screen of FIG.

In FIG. 14, the detection point data 42 is inputted to the lane marking line angle detection processing 51. In FIG. 16, the detection point 16 by the front and the next scanning line 28 is connected by a straight line. Is obtained. The angle θ formed by the straight line 52 and the vehicle center line 29 is obtained and sent to the reliability determination processing 32, and the reliability of the travel road recognition is determined based on the angle θ. It is determined that the smaller the angle θ, the higher the reliability. Other configurations are the same as those in the second embodiment (FIG. 11), and thus description thereof is omitted.

In the above description, a straight line 52 is drawn by combining the detection points 16 on the front and the next scanning lines 28 to obtain the angle θ. In addition, a plurality of different combinations of the detection points are used. A plurality of angles with the vehicle center line 29 may be obtained from the plurality of drawn straight lines, and an average value of the angles may be used, or a maximum value of the plurality of angles may be used. Further, in the above description, the angle formed between the vehicle center line 29 and the vehicle center line 29 is used, but the angle formed between the vehicle center line 29 and the vehicle traveling direction may be used.

Performing the above-described reliability determination has the following effects. In the case where the traveling road is recognized by an image sensor or the like and a steering warning is issued, an erroneous warning may be generated by erroneously recognizing a lane marking of a diverging portion at an exit road of an expressway or the like. When the branch portion is erroneously recognized, the angle formed between the recognized lane marking and the vehicle traveling direction, or the angle formed between the recognized lane marker and the vehicle center axis is larger than the angle when the normal portion is traveled. Therefore, by obtaining the reliability of the recognition of the traveling road from the angle θ, the influence of the recognition failure generated at the time of traveling at the branch portion can be suppressed.

Embodiment 4 FIG. This embodiment is an example in which the reliability of travel road recognition is determined based on the detected lane marking line interval, that is, the lane width. The schematic configuration of the device is the same as that of the second embodiment (FIG. 9), and the operation of the image sensor is the same as that of the second embodiment (FIG. 10). The operation of the processing device will be described. FIG. 17 is a processing block diagram of the processing device, and FIG. 18 is a mapping diagram obtained by mapping the screen of the camera of the image sensor.

In FIG. 17, the detection point data 42 is input to the lane width detection device 56, and the lane width 57 between the detection points 16 shown in FIG. 18 is detected. The lane width 57 is sent to the reliability determination processing 32 to determine the reliability of the road recognition. For the determination, various parameters obtained by detecting the lane width, such as the average value, the maximum value, the variation, and the magnitude of the variation of the plurality of lane widths, can be used. Other Embodiment 2
The description is omitted because it is the same as (FIG. 11).

The following effects can be obtained by performing the above reliability judgment. When the traveling road is recognized by an image sensor or the like, there is a case where a lane marking at a branch portion is erroneously recognized at a branch portion found on an approach road or an exit road of a highway, and a false alarm is generated. Since the interval between the left and right lane markings, that is, the lane width, which is recognized when the branch portion is erroneously recognized is larger or smaller than the normal case, determine the reliability of the road recognition from the value related to the recognized lane width. Thereby, it is possible to suppress the influence of the recognition failure that occurs when the vehicle travels at the branch.

Embodiment 5 FIG. This embodiment is an example in which the reliability of recognition of a traveling road is determined from the transmittance of atmospheric light around a vehicle detected by an image sensor. The schematic configuration of the device is the same as that of the second embodiment (FIG. 9), and thus the description is omitted.

First, the operation of the image sensor will be described. FIG. 19 is a processing block diagram of the image sensor. The camera 11 sends an image to the lane marking detection processing 12 and also sends the image to the transmittance detection processing 61. In the transmittance detection processing 61, for example, a method disclosed in Japanese Patent Application Laid-Open No. H11-326200, that is, the luminance of lane markings at a plurality of places at different distances is detected, and the visibility is determined from the relationship between these luminances and the distance. That is, a method of obtaining the transmittance of the atmosphere is used. The obtained transmittance 62 is sent to the processing device 7. The other parts are the same as those in the first embodiment (FIG. 2), and thus the description is omitted.

Next, the operation of the processing device will be described.
FIG. 20 is a processing block diagram of the processing device 7, in which the transmittance 62 obtained by the image sensor is input to the reliability determination processing 32 to determine the reliability of the road recognition. It is determined that the higher the transmittance 62 is, the higher the reliability is. The other parts are the same as in the second embodiment (FIG. 11), and thus the description is omitted.

As described above, by determining the reliability of the recognition of the traveling road from the transmittance of the atmosphere, it is possible to suppress the influence of the recognition failure caused by the decrease in the transmittance during running in fog or rain.

Embodiment 6 FIG. This embodiment is an example in which the reliability of the recognition of the traveling road is determined from the result of the recognition of the traveling road by the image sensor and the magnitude of the change in the positional relationship with the vehicle. The schematic configuration of the device is the same as that of the second embodiment (FIG. 9), and the operation of the image sensor is the same as that of the first embodiment (FIG. 2).

FIG. 21 is a screen view of the camera of the image sensor, and FIG. 22 is a mapping diagram thereof. In the image sensor,
As shown in FIG. 21, when the shadow 67 of the guardrail 66 and the unclear portion of the lane marking 3 approach each other, the travel route recognition result is affected by the erroneous recognition in FIG. May become unstable, such as repeating the correct recognition of the character. At this time, the alarm control (processing at 34 and 35) becomes unstable, and its reliability is lost.

The operation of the processing device for preventing such a situation will now be described. FIG. 23 is a processing block diagram of the processing device. The value of the lateral deviation obtained in the lateral deviation calculation processing 31 is held by the delay processing 68 for one control cycle or several control cycles. The difference between the stored value of the lateral shift before one or several control cycles and the current value of the lateral shift is input to the filter processing 69, unnecessary parts of the data are removed, and the necessary parts are sent to the reliability determination processing 32. , The reliability of the travel path recognition is determined. The smaller the difference in the lateral displacement, the higher the reliability. The other parts are the same as in the first embodiment (FIG. 7), and thus the description is omitted.

When the lane marking is unclear when the road is recognized by the image sensor, it is temporarily and intermittently erroneously recognized as a lane marking such as a shadow of a guardrail installed on the shoulder of the road. Therefore, there is a correlation between the magnitude of the change in the travel road recognition result and the reliability of the travel road recognition. As described above, by determining the reliability of the travel path recognition based on the magnitude of the change in the travel path recognition result, it is possible to suppress the influence of the recognition failure due to such a cause.

Embodiment 7 FIG. This embodiment is an example in which the reliability of the traveling road recognition is determined from the result of the traveling road recognition by the magnetic nail sensor and the magnitude of the change in the positional relationship with the vehicle. FIG. 24 is an explanatory diagram showing a schematic configuration of the device and a traveling path. In the figure, reference numeral 71 denotes a steel seam provided on the traveling path 2. The other parts shown are
The description is omitted because it is the same as that in FIG.

As shown in FIG. 24, the magnetic nail sensor may erroneously detect a magnetic nail 4 at a steel joint 71 or the like found in a bridge or the like.
FIG. 25 shows an example of erroneous detection. The point of a where the lateral displacement detection value sharply increases is the position of the steel seam portion 71.

The operation of the magnetic nail sensor is described in the first embodiment.
The description is omitted because it is the same as (FIG. 6). FIG.
FIG. 4 is a processing block diagram of a processing device, and illustrates a magnetic nail sensor 6;
Is sent to the lane departure process 33 to determine whether the vehicle has deviated from the lane, and the detection result of the magnetic nail sensor 6 is sent to the lane departure process and held for one or several control cycles. The difference between the held value and the current value is sent to the reliability determination processing 32 via the filter processing 69 to determine the reliability of the travel road recognition. The smaller the change in the lateral displacement, the higher the reliability. The other parts are the same as in the first embodiment (FIG. 7), and thus the description is omitted.

In the case where the traveling road is recognized using a magnetic nail sensor, when a steel road joint installed on a bridge or the like is magnetized, it is erroneously recognized as a magnetic nail. False recognition occurs. Since this is also often temporary or intermittent, the influence of the recognition failure due to such a cause is determined by determining the reliability of the travel road recognition based on the magnitude of the change in the travel road recognition result as described above. Can be suppressed.

Embodiment 8 FIG. This embodiment is an example in which the reliability of travel road recognition is determined according to the elapsed time from the detection timing when an image sensor is used. For those that recognize the road using an image sensor,
Generally, the time required for traveling road recognition is longer than the processing cycle of the alarm control. Therefore, in the alarm control, a new traveling road recognition result cannot be obtained for each processing cycle, and the reliability decreases. In this embodiment, the reliability is determined in accordance with the above-described state.

The schematic configuration of the apparatus is described in Embodiment 2 (FIG. 9).
Therefore, the description is omitted. FIG. 27 is a block diagram of the image sensor processing. The secondary approximate curve processing 14 outputs a secondary approximate curve parameter 41 and also outputs a detection timing signal 76 indicating the processing timing in the secondary approximate processing 14. To the processing unit. Other configurations are the same as those in the first embodiment (FIG. 2), and thus description thereof is omitted.

FIG. 28 is a processing block diagram of the processing device, in which a detection timing signal is input to the reliability determination processing 32, and as the time elapses from the input of the signal,
It is set in advance so that the reliability of the recognition of the traveling road is low, and the determination is made according to this. The other parts are the same as those of the second embodiment (FIG. 11), and thus the description is omitted.

The difference between the result of the recognition of the traveling road and the actual traveling road increases with the time elapsed since the recognition of the traveling road, but the reliability is determined according to the time elapsed since the last recognition of the traveling road. Therefore, the influence of the recognition failure can be suppressed.

Embodiment 9 FIG. This embodiment is an example in which the reliability of travel path recognition is set according to the elapsed time from the detection timing when a magnetic nail sensor is used. Even in the case of using a magnetic nail sensor to perform travel path recognition, generally, it is necessary to pass from a place where one magnetic nail is embedded to a place where the next magnetic nail is embedded. Embodiment 8 is the same as Embodiment 8 in that the time is longer than the processing cycle of the alarm control, and the reliability decreases with the elapsed time from the timing of detecting the magnetic nail. In this embodiment, the reliability is determined in accordance with the above-described state.

The schematic configuration of the apparatus is the same as that of the seventh embodiment (FIG. 2).
The description is omitted because it is the same as 5). FIG. 29 is a processing block diagram of the magnetic nail sensor. From the magnetic nail detection processing 22, a detection timing signal 82 indicating the processing timing in the magnetic nail detection processing 22 is transmitted to the processing device 7 in addition to the lateral shift 81. Can be Other Embodiment 1
The description is omitted because it is the same as (FIG. 6).

FIG. 30 is a processing block diagram of the processing device. A lateral deviation 81 is input to the lane departure processing 33 and a detection timing signal 82 is input to the reliability determination processing 32. The processing in the reliability determination processing 32 is shown in FIG.
1 will be described. A circle in the figure indicates a timing at which a magnetic nail is detected. The reliability at this point is set to be maximum, and the reliability is set to be reduced according to the elapsed time, and the determination is made according to the reliability. Other parts shown in FIG. 30 are the same as those in the seventh embodiment (FIG. 26), and thus description thereof is omitted.

Although the difference between the recognition result and the actual traveling road increases with the elapsed time after the recognition of the traveling road, similar to the eighth embodiment, the reliability is determined according to the elapsed time after the recognition of the traveling road. The influence of the recognition failure can be suppressed.

Embodiment 10 FIG. This embodiment is an example in which, when an image sensor is used, the reliability of travel path recognition is determined from means for specifying the position of the vehicle and a map information database. For example, poor recognition of a traveling path occurs at a specific place such as a tunnel entrance. A GPS is mounted on the vehicle as a means for specifying the position of the vehicle, and a map information database having data on the reliability of the recognition of the traveling route at each position on the map is prepared, and the two are compared. Determine reliability.

The schematic configuration of the apparatus is the same as that of the second embodiment (FIG. 9), and the operation of the image sensor is the same as that of the first embodiment.
The description is omitted because it is the same as (FIG. 2).
FIG. 32 is a processing block diagram of the processing device. GPS8
The position information of the own vehicle obtained in step 6 is stored in the map information database 87.
Send to In the map information database 87, the reliability of the travel path recognition is predetermined in accordance with the position on the map.
The reliability of the travel path recognition at the own vehicle position obtained by PS86 is obtained. For example, reliability is low in a tunnel or the like.
The reliability obtained by the map information database 87 is sent to the vibration torque addition 34 and the return torque addition 35. The other parts are the same as those of the second embodiment (FIG. 11), and thus the description is omitted. In this way, the GPS 86 and the map information database 87 constitute the travel road reliability determination means, and the specific location where the recognition failure occurs is determined by the map information database, so that the influence of the recognition failure occurring at these locations is suppressed. be able to.

Embodiment 11 FIG. This embodiment is an example in which, when a magnetic nail sensor is used, the reliability of roadway recognition is determined from means for specifying the own vehicle position and map information data as in the tenth embodiment. For example, recognition failure occurs at a specific place such as a bridge. To deal with this, a GPS and a map information database are used as in the tenth embodiment.

The schematic structure of the apparatus is the same as that of the seventh embodiment (FIG. 24).
Since the operation of the magnetic nail sensor is the same as that of the first embodiment (FIG. 6), the description thereof is omitted. FIG. 33 is a block diagram of the processing device. The lane departure determination process 33 includes the lateral deviation 8 obtained by the magnetic nail sensor.
1 is input. Other configurations are the same as those in the tenth embodiment (FIG. 32), and thus description thereof is omitted. In this way, similarly to the tenth embodiment, it is possible to suppress the influence that occurs at a specific location where the recognition failure occurs.

[0065]

According to the first aspect of the present invention, there is provided a vehicle steering driving support device including a traveling road recognition reliability determining unit for determining the reliability of the traveling road recognition, and a warning method is performed according to the determined reliability. Since the change is made, it is possible to achieve both the suppression of the influence of the false alarm on the driver and the avoidance of a state in which the driver departs from the lane and is not warned. Further, according to the vehicle steering driving support device of the second aspect, the same traveling road recognition reliability determination means is provided, and the warning is quantitatively changed in accordance with the reliability.

According to the third aspect of the present invention, since the reliability is determined from the degree of coincidence of the recognition results of the plurality of travel path recognition means, the reliability is compared with the case where only one travel path recognition means is used. As a result, it is possible to improve the accuracy of the determination of the reliability by the travel path recognition reliability determination unit, and it is possible to reduce the possibility of selecting an inappropriate alarm method or alarm amount.

According to the vehicle steering driving support device of the fourth aspect, the reliability is determined based on the angle of the lane marking.
Even on a traveling road with a branch portion, the influence of a false alarm can be suppressed. According to the vehicle steering driving support device according to the fifth aspect, the reliability is determined from the interval between the left and right traveling road dividing lines, and thus the same effect is obtained. According to the vehicle steering driving support device of the sixth aspect, since the reliability is determined from the transmittance of the atmosphere, the influence of a false alarm caused by bad weather can be suppressed.

According to the vehicle steering driving support device of the seventh aspect, the reliability is determined from the recognition result of the traveling road and the magnitude of the change in the positional relationship between the vehicle and the vehicle. The influence of erroneous recognition due to a joint portion or the like can be suppressed. According to the vehicle steering driving support device according to claim 8,
Since the reliability is determined based on the elapsed time since the last recognition of the traveling road, it is possible to suppress the influence of the recognition failure caused by the inability to use the latest information on the traveling road.

According to the vehicle steering driving support device of the ninth aspect, the reliability at the vehicle position is determined by using the map database having the reliability as a database. Can be suppressed.

According to the vehicle steering driving support apparatus of the tenth aspect, the method of the alarm changed according to the reliability is selected from vibration addition to the steering wheel, operation addition to the departure correction direction, and a combination of both. , The influence of a false alarm on the driver can be suppressed.

According to the vehicle steering driving support apparatus of the eleventh aspect, vibration is given as a warning, and the amplitude is increased when the reliability is high, so that the influence of a false warning on the driver can be suppressed. According to the vehicle steering driving support device according to claim 12,
When the reliability is high, the frequency of the alarm vibration is increased,
The influence of the false alarm on the driver can be suppressed. According to the vehicle steering driving support device according to the thirteenth aspect, intermittent vibration is given as an alarm, and when the reliability is high, the repetition period is shortened, so that the influence of a false alarm on the driver can be suppressed.

According to the vehicle steering driving support apparatus of the fourteenth aspect, an operation in the departure correction direction is given as an alarm, and when the reliability is high, the steering torque amount is increased. Can be suppressed.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a schematic configuration and a traveling path of a vehicle steering driving support device according to a first embodiment of the present invention.

FIG. 2 is a processing block diagram of an image sensor according to Embodiment 1 of the present invention.

FIG. 3 is a screen view obtained by a camera according to the first embodiment of the present invention.

FIG. 4 is a mapping diagram of the screen of FIG. 3;

FIG. 5 is an explanatory diagram showing a positional relationship between a vehicle and a magnetic nail according to the first embodiment of the present invention.

FIG. 6 is a processing block diagram of the magnetic nail sensor according to the first embodiment of the present invention.

FIG. 7 is a processing block diagram of the processing device according to the first embodiment of the present invention.

FIG. 8 is an explanatory diagram of a center line of a recognized traveling road according to the first embodiment of the present invention.

FIG. 9 is an explanatory diagram illustrating a schematic configuration of a vehicle steering driving assist system according to Embodiment 2 of the present invention.

FIG. 10 is a processing block diagram of an image sensor according to Embodiment 2 of the present invention.

FIG. 11 is a processing block diagram of a processing device according to Embodiment 2 of the present invention.

FIG. 12 is a mapping diagram of a camera screen according to Embodiment 2 of the present invention.

FIG. 13 is a mapping diagram of a camera screen according to Embodiment 2 of the present invention.

FIG. 14 is a processing block diagram of a processing device according to a third embodiment of the present invention.

FIG. 15 is a screen view of a camera according to Embodiment 3 of the present invention.

FIG. 16 is a mapping diagram of FIG.

FIG. 17 is a processing block diagram of a processing device according to a fourth embodiment of the present invention.

FIG. 18 is a mapping diagram of a camera screen according to Embodiment 4 of the present invention.

FIG. 19 is a processing block diagram of an image sensor according to Embodiment 5 of the present invention.

FIG. 20 is a processing block diagram of a processing device according to Embodiment 5 of the present invention.

FIG. 21 is a screen view of a camera according to Embodiment 6 of the present invention.

FIG. 22 is a mapping diagram of FIG. 21.

FIG. 23 is a processing block diagram of a processing device according to Embodiment 6 of the present invention.

FIG. 24 is an explanatory diagram showing a schematic configuration and a traveling path of a vehicle steering driving assist system according to Embodiment 7 of the present invention.

FIG. 25 is an explanatory diagram of travel path detection according to the seventh embodiment of the present invention.

FIG. 26 is a processing block diagram of a processing device according to Embodiment 7 of the present invention.

FIG. 27 is a processing block diagram of an image sensor according to Embodiment 8 of the present invention.

FIG. 28 is a processing block diagram of a processing device according to an eighth embodiment of the present invention.

FIG. 29 is a processing block diagram of a magnetic nail sensor according to Embodiment 9 of the present invention.

FIG. 30 is a processing block diagram of a processing device according to Embodiment 9 of the present invention.

FIG. 31 is an explanatory diagram of reliability determination processing according to Embodiment 9 of the present invention.

FIG. 32 is a processing block diagram of a processing device according to Embodiment 10 of the present invention.

FIG. 33 is a processing block diagram of a processing device according to Embodiment 11 of the present invention.

[Explanation of symbols]

1 vehicle, 2 running road, 3 lane marking line, 5 image sensor, 6 magnetic nail sensor, 12 lane marking detection processing, 29 vehicle center line, 32 reliability judgment processing, 33
Vehicle departure determination processing, 34 adding vibration torque, 35 adding return torque, 86 GPS, 87 map information database.

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) G08G 1/09 G08G 1/09 V 1/16 1/16 C (72) Inventor Kenji Ogawa 2-chome Marunouchi, Chiyoda-ku, Tokyo No.2-3 Mitsubishi Electric Corporation F term (reference) 3D030 EA22 EA24 5H180 AA01 CC04 CC19 CC24 CC27 FF05 FF27 LL01 LL04 LL08 LL09 LL15 LL20

Claims (14)

[Claims] 1. A travel path recognizing means for recognizing a travel path on which a vehicle travels, and determining whether or not the vehicle is likely to deviate from the travel path based on a recognition result of the travel path by the travel path recognition means. A vehicle driving assist device that issues a warning to a driver in a situation where the vehicle is likely to deviate from the traveling path based on the determination result of the situation determining unit. Traveling road recognition reliability determining means for determining the reliability of the traveling road recognition, and alarm control means for changing the method of the alarm according to the reliability of the traveling path recognition determined by the traveling road recognition reliability determining means. A vehicle steering driving support device comprising: 2. A travel path recognizing means for recognizing a travel path on which a vehicle travels, and determining whether or not the vehicle is likely to deviate from the travel path based on a result of the recognition of the travel path by the travel path recognition means. A vehicle driving assist device that issues a warning to a driver in a situation where the vehicle is likely to deviate from the traveling path based on the determination result of the situation determining unit. Travel road recognition reliability determination means for determining the reliability of travel path recognition, and alarm control means for quantitatively changing the warning according to the reliability of the travel path recognition determined by the travel path recognition reliability determination means. A vehicle steering driving support device comprising: 3. A method according to claim 1, further comprising a plurality of different travel path recognition means, wherein the travel path recognition reliability determination means determines reliability based on the degree of coincidence of the recognition result of the travel path recognized by each of the travel path recognition means. The vehicle steering driving support device according to claim 1 or 2, wherein 4. A travel path recognizing means is an image sensor for recognizing a travel lane dividing line, and the travel lane recognition reliability determining means is configured to recognize the travel lane recognizing means by the travel lane recognizing means and a vehicle traveling direction or a vehicle. 3. The steering driving support device for a vehicle according to claim 1, wherein the reliability of the traveling road recognition is determined from an angle formed by the center line. 5. A travel path recognizing means is an image sensor for recognizing a travel lane dividing line. The steering driving support device for a vehicle according to claim 1 or 2, wherein the reliability of road recognition is determined. 6. The travel path recognition means is an image sensor for recognizing a lane marking, and the travel path recognition reliability determination means determines the reliability of the travel path recognition from the transmittance of the atmosphere around the vehicle. The steering driving support device for a vehicle according to claim 1 or 2, wherein: 7. The traveling road recognition reliability determining means determines the reliability of the traveling road recognition from the recognition result of the traveling road recognized by the traveling road recognition means and the magnitude of the change in the positional relationship between the vehicle and the vehicle. The steering driving support device for a vehicle according to claim 1 or 2, wherein: 8. The method according to claim 1, wherein the roadway recognition reliability determining unit determines the reliability of the roadway recognition based on a time elapsed since the last time the roadway recognition unit performed the roadway recognition. The vehicle steering driving support device according to claim 2. 9. The method according to claim 1, wherein the travel path recognition reliability determination means comprises a means for specifying a vehicle position and a map database having the reliability of the travel path recognition at each position as a database. 3. The steering driving support device for a vehicle according to 2. 10. A method of an alarm which is changed according to the reliability of recognition of a traveling road is selected from vibration addition to a steering wheel, operation addition in a direction for correcting deviation to the steering wheel, and a combination of both. The steering driving support device for a vehicle according to claim 1, wherein 11. The system according to claim 2, wherein a vibration is given to the steering wheel as an alarm, and the amplitude of the vibration increases as the reliability of the recognition of the traveling road increases.
A steering driving support device for a vehicle according to the above. 12. The system according to claim 2, wherein a vibration is given to the steering wheel as an alarm, and the frequency of the vibration increases as the reliability of the recognition of the traveling road increases.
A steering driving support device for a vehicle according to the above. 13. The vehicle according to claim 2, wherein an intermittent vibration is given to the steering wheel as an alarm, and a repetition period of the vibration is shortened as reliability of recognition of the traveling road increases. Steering assist system. 14. The system according to claim 1, wherein an operation in the direction of correcting the deviation is given to the steering wheel as an alarm, and the steering torque amount of the operation is increased as the reliability of the recognition of the traveling road is increased. Item 3. A vehicle steering driving support device according to item 2.