JP2003141694A - Safety driving supporting device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem such that a lane maintaining supporting device including a lane deviation warning function cannot be used on local roads because conditions of local roads are not suitable for the lane deviation warning function due to obstacles such as parked cars and pedestrians, and pale lines of lanes which are hardly detected. SOLUTION: A safety driving supporting device for vehicles characterized by that operations of a lane deviation warning function and a lane maintaining supporting device are switched by a speed detecting means and a kinds of lanes detecting means is provided. The lane deviation warning function can be used on local roads because the lane deviation warning function does not need high precision to detecting lanes compared with the lane maintaining supporting device which controls steering by calculating a steering angle. In addition, since a driving speed is low on local roads, a processing period can be lengthened, thereby detects the lane even a lane which is hardly recognized by controlling the processing period.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a vehicle safe driving support device equipped with an image processing device.

[0002]

2. Description of the Related Art A lane keeping assist device recognizes a lane on a road surface by an image processing device, and assists a steering operation when a vehicle changes due to an influence of a road inclination or a strong crosswind while the vehicle is traveling. It is a safe driving support device.
The lane departure warning function is included in this lane keeping assist device, and when the lane keeping assist device is activated, an alarm is issued when the vehicle is about to depart from the lane due to insufficient steering operation alone. Is a warning. As an example of the invention relating to these, Japanese Patent Laid-Open No. 2000-1685
There is number 99.

[0003]

In the prior art, the use of the lane keeping assist device is premised on an automobile exclusive road including an expressway, which is activated at an arbitrary vehicle speed or higher. There was a problem that the device was not functioning when driving on a general road where there are more opportunities to drive than usual.

The reason why the vehicle is not started on a general road is that there are road parking vehicles, pedestrians, etc., and the steering control by the lane keeping assist device may not be appropriate for actual driving, and the lane is thin (or not). This is because there are roads that are difficult to detect and it is difficult to calculate the steering angle of the steering that requires highly accurate lane detection.

An object of the present invention is to distinguish between an automobile exclusive road and an ordinary road, thereby switching between a lane departure warning and a lane keeping assist function, and effectively utilizing an image processing camera provided in the vehicle to make an ordinary road. But to provide safe driving assistance.

[0006]

In a vehicle equipped with an image processing device, a vehicle speed detection means and a road type detection means
A safe driving support device for a vehicle, which is characterized by switching operation with a lane maintenance support device including a lane departure warning function on a general road and a lane departure warning function on an automobile exclusive road.

Regarding the obstacles of the lane keeping assist device, such as road parking and pedestrians on a general road, it is applied when steering control is performed, and there is no problem in the lane departure warning function.

Regarding the problem of lane detection on roads with thin (or no) lanes, the lane departure warning does not require lane detection accuracy as compared with the lane keeping assist function that controls steering while calculating the steering angle. Since the vehicle speed on a general road is lower than that on an automobile-only road, it is possible to give a margin to the processing cycle of the image processing device, so even if the road surface is difficult to recognize the lane in a short processing time, For detecting objects on the road surface such as guardrails,
This can be solved by performing rough lane detection processing by taking processing time such as guessing the lane due to differences in road surface brightness.

In addition to the above construction, the road type detecting means is a means for detecting the type of an automobile exclusive road including a highway and general roads by means of an image processing device or a navigation system. A driving support device is provided.

When it is determined that the road is an exclusive road for automobiles, a lane keeping assist device including a lane departure warning is activated to perform conventional lane keeping assist traveling. When it is determined that the road is a general road, the lane departure warning function is activated.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows a basic configuration of an embodiment of a vehicle safe driving support device to which the present invention is applied.

From the lane detecting means 1, the road type determining means 2 and the driver's will detecting means 3, the lane departure warning and the lane keeping assist function determining means 4 determine the function and the steering including the steering angle calculation function. The control device 5 and the alarm device 6 are operated. The lane detecting means 1 detects a white line on the road surface by the image processing device 7, and calculates data necessary for the lane keeping assist device and the lane departure warning function.
The road type discriminating means 2 may be a means for discriminating whether the traveling road is a highway or a general road from the vehicle speed obtained from the vehicle speed sensor 8 or a similar discriminating means using the navigation system 9. The driver's intention detecting means 3 is means for discriminating a driver's intention to turn left or right or change lanes by means of the direction indicator 10.
When the lane departure occurs, it is determined that the lane departure is due to the driver's intention, and the lane keeping assist device and the lane departure warning function are canceled, and when the turn signal indicator 10 is finished, these functions are restored. Is.

An example of the operation until switching between the lane keeping assist device and the lane departure warning device by these detecting means is shown in FIG.
This will be described with reference to the flowchart of.

In step S101, with the VIGN switch of the vehicle turned on, the image processing device 7 is activated and white line detection processing is performed. In step S102, the state of the turn signal indicator 10 is checked. If the turn signal indicator 10 is off, step S102
Move to 103. If the turn signal is on, wait until it turns off.

In step S103, the vehicle speed is detected by the vehicle speed sensor, and if the vehicle side (actual vehicle speed) on which the vehicle is traveling is equal to or less than the set vehicle speed in step S104, step S105
If the vehicle speed is equal to or higher than the set vehicle speed, the process proceeds to step S106. Here, the set vehicle speed is appropriate to be 60 km / h or more, which is the court speed on ordinary roads. In step S106, the type of road is detected by the navigation system, and if the road is not an automobile road, step S10
If the vehicle is a motorway, the process proceeds to the lane keeping warning process of step 5 and the lane keeping support process of step 108. Although not specifically shown in the flowchart, in the lane departure warning process of step S105 and the lane keeping assist traveling process of step S108, the state of the turn signal indicator 10 is always detected, and when turned on, the respective operations are immediately released, Wait at 2.

[0017]

According to the present invention, an image processing device mounted on a vehicle is effectively used to provide a function of assisting safe driving even on a general road.

[Brief description of drawings]

FIG. 1 is a basic configuration diagram of an embodiment of a vehicle safe driving support device according to the present invention.

FIG. 2 is a flowchart of a process of switching between a lane keeping assist device and a lane departure warning.

[Explanation of symbols]

1 ... Lane detecting means, 2 ... Road type determining means, 3 ... Driver intention detecting means, 4 ... Lane departure warning, lane keeping assist function determining means, 5 ... Steering control device, 6 ... Warning device.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B62D 101: 00 B62D 101: 00 137: 00 137: 00 (72) Inventor Jiro Takezaki Hitachinaka City, Ibaraki Field No. 2520 F-Term within the automobile equipment group of Hitachi, Ltd. (reference) 2F029 AA02 AB01 3D032 CC20 DA22 DA23 DA87 EB30 EC34 EC35 5H180 AA01 CC04 CC24 CC27 LL01 LL02 LL04 LL06 LL09

Claims (2)

[Claims] 1. A safe driving assistance device for a vehicle equipped with an image processing device, including a lane departure warning function and a lane departure alert function provided by a vehicle speed detecting means, a road type detecting means, and a driver's intention detecting means. A safe driving support device for vehicles, which is characterized by switching the operation of the vehicle. 2. The vehicle according to claim 1, wherein the road type detecting means is a means for detecting the type of an automobile exclusive road including a highway and a general road by an image processing device or a navigation system. Safe driving support device.