JP2009116723A - Lane change support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a lane change support system capable of making a driver execute quick and accurate determination at changing a lane. <P>SOLUTION: In lane change support control processing performed by a control section of the system, an adjacent lane (target lane) is detected on the basis of a photographed image photographed by a subject camera (S120) if speed of its own vehicle exceeds threshold speed (S115:YES); when the target lane exists (S125:YES), a zone (margin lane) capable of making the own vehicle safely change a lane is set if the other vehicle does not exist on the target lane (S130); and an image (zone image) emphasizing the margin zone is displayed on a target display section (S150) by superposing the zone image on the photographed image (S140). Consequently, a driver can intuitively recognize a vehicle distance necessary to change a lane at a rear side since display by integrating an image as an index at changing a lane and the photographed image photographing an actual situation on the adjacent lane. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a lane change support device that supports a driver so that a lane change can be performed safely.

  Conventionally, an in-vehicle sensor that detects another vehicle (hereinafter referred to as a target vehicle) existing on the rear side of the vehicle is provided, and based on information detected by the in-vehicle sensor (hereinafter referred to as detection information), the presence of the other vehicle, etc. There is known a lane change assisting device that assists the driver so that the driver can safely change the lane by informing the driver.

  As an example of this lane change support device, attention is required when changing the lane to the lane on which the target vehicle is traveling according to the distance and relative speed with the target vehicle calculated based on the detection information of the in-vehicle sensor. Has been proposed that provides the driver with a judgment material when changing the lane by displaying the level of the vehicle (hereinafter referred to as “attention level”) on the display as an image (see, for example, Patent Document 1).

Specifically, as shown in FIG. 9, the display includes a mark 101 representing the rear portion of the host vehicle, and a segment row 103 in which a plurality of segments 102 are arranged so as to extend downward from the side position of the mark 101. An image 100 consisting of is displayed. Further, in the segment row 103, the segments 102 are filled from the lower side by the number corresponding to the distance from the target vehicle, and the filled segments 102 change to a color and luminance corresponding to the relative speed with the target vehicle. That is, the image 100 represents the degree of caution with respect to the target vehicle on the rear side by the length, color, and luminance that are painted from below the segment row 103.
JP 2002-74596 A

  However, in the conventional lane change support device, since the display image on the display is the image image 100 composed of the mark 101 and the segment row 103, the conversion operation between the display image and the actual state on the rear side is performed at the driver's head. There is a problem that the driver cannot always intuitively recognize the attention degree on the rear side. For this reason, there is a possibility that the driver cannot make an accurate determination when changing lanes.

  In order to solve the above-described problems, an object of the present invention is to provide a lane change support device that allows a driver to make a quick and accurate determination when changing lanes.

  In the lane change assisting device according to claim 1, which is made to achieve the above object, the image acquisition unit captures a captured image obtained by capturing the current situation on the road at the rear side of the own vehicle together with a part of the own vehicle. The adjacent lane specifying unit acquires the adjacent lane of the lane in which the host vehicle travels based on the captured image. Note that the captured image acquired by the image acquisition unit is displayed by the image display unit.

  When the adjacent lane specifying means specifies the adjacent lane, the area setting means can safely change the lane if the area setting means is an area on the adjacent lane and there is no other vehicle in the area. A margin area that can be set is set, and the display control unit executes a superimposition display process in which the area image in which the margin area is emphasized is superimposed on the captured image and displayed on the image display unit.

  In other words, the lane change support device of the present invention has an area image (ie, an image image that serves as an index when changing lanes) that emphasizes a margin area on an adjacent lane and an actual image on the adjacent lane behind the host vehicle. The captured image obtained by capturing the state is integrated and displayed.

  Therefore, according to the lane change support device of the present invention, the lane change can be performed on the rear side without causing the driver to convert the displayed image and the actual state on the rear side in the driver's head. Therefore, the driver can intuitively recognize the necessary vehicle interval, and thus, the driver can quickly and accurately make a determination when changing lanes.

Further, as described in claim 2, it is desirable that the image display means is provided on a door mirror of the host vehicle.
According to the lane change support device configured as described above, the driver is provided with the judgment material at the time of the lane change only by causing the driver to perform the normal action of confirming the rear side of the vehicle using the door mirror. As a result, the operation load on the driver when changing lanes can be reduced.

Furthermore, as described in claim 3, it is more desirable that the image acquisition means is provided in the door mirror of the host vehicle.
According to the lane change assist device configured in this way, the situation on the rear side of the host vehicle can be reliably imaged from the door mirror together with a part of the vehicle. Further, the image acquisition means can constitute an electronic door mirror together with the image display means. In this case, when the lane change assist device is installed in the vehicle, an electronic door mirror may be attached instead of a normal door mirror, and thus it can be flexibly dealt with according to the necessity of the consumer.

  By the way, as described in claim 4, the area setting means includes a relative speed between a traveling vehicle (hereinafter referred to as a target vehicle) traveling on an adjacent lane and the own vehicle, or a speed of the own vehicle (that is, an own vehicle speed). Using the acquired relative speed or at least one of the vehicle speeds, set the size of the margin area so that the larger the speed, the wider the margin area in the direction opposite to the traveling direction of the host vehicle. It is desirable to do. The relative speed between the target vehicle and the host vehicle may be calculated based on the captured image acquired by the image acquisition unit, for example.

  According to the lane change assist device configured in this way, the necessary margin area is automatically displayed according to the speed of the host vehicle and the relative speed with the target vehicle, so that a more accurate determination material at the time of lane change Can continue to be provided to the driver.

  In addition, as described in claim 5, the superimposed display processing by the display control unit is a region image obtained by emphasizing a boundary image between the adjacent lane specified by the adjacent lane specifying unit and the lane in which the host vehicle travels. At the same time, it is desirable to superimpose on the captured image.

  According to the lane change assist device configured as described above, the boundary line of the adjacent lane is emphasized and displayed together with a part of the host vehicle, so that the driver is alerted to the adjacent lane and the adjacent lane is displayed. This area can be recognized more clearly.

As described in claim 6, it is desirable that the display control means prohibits the execution of the superimposed display process when the host vehicle speed is equal to or lower than a preset threshold value.
According to the lane change assist device configured in this way, when the host vehicle is stopped or traveling at a low speed, only the actual state on the rear side of the host vehicle is automatically displayed. In a situation where assistance at the time of lane change is unnecessary, such as when stopping by (and deceleration for that), it is possible to suppress the control burden of the device without wastefully displaying the region image.

  In addition, as described in claim 7, the display control means acquires relative information representing a relative relationship between the target vehicle and the host vehicle, and changes the color or luminance of the margin area based on the relative information. It is desirable to perform display change processing.

  In this case, by changing the color or brightness of the displayed margin area, it is possible to notify the driver of the degree to which attention is required for the target vehicle (ie, the attention level) when changing the lane.

As described in claim 8, it is desirable that the display control means prohibits execution of the display change process when the target vehicle exists outside the margin area.
In this case, when the color or brightness of the margin area in the display image is changed, the driver can easily recognize that the vehicle exists in the margin area, that is, that attention is required when changing the lane.

In addition, as described in claim 9, the relative information may be at least one of the relative speed or the distance between the target vehicle and the host vehicle.
In this case, for example, the driver can be notified of a more accurate level of caution by changing the color or brightness of the marginal area stepwise in accordance with the relative speed and distance from the target vehicle.

  By the way, as described in claim 10, the image acquisition means acquires captured images for each of the rear sides of the host vehicle, and the image display means automatically displays the captured images acquired by the image acquisition means. It is desirable to be provided at two locations on the vehicle.

  Then, when the display change process is executed, the display control means performs the superimposed display process on the image display means on the side on which the target vehicle that is the target of the display change process is displayed, and the image on the other side. A warning message may be displayed on the display means.

  According to the lane change assist device configured as described above, the driver is informed of the attention to the target vehicle traveling on one side of the adjacent lane through both of the image display means provided at two locations of the own vehicle. Therefore, it is possible to improve the certainty that the driver recognizes the attention.

  Furthermore, as described in claim 11, the sign detection means detects a sign (hereinafter referred to as a movement sign) that moves in the adjacent lane direction of the host vehicle, and the target vehicle is traveling in the margin area (that is, When the sign detection means detects a movement sign (while it exists in the margin area), it is desirable that the warning notification means notifies the warning.

  According to the lane change assist device configured as described above, when the driver expresses an intention to change lanes when the distance to the target vehicle is approaching, a warning for the operation is given to the driver. It is notified, and as a result, it is possible to prevent a lane change in a dangerous situation.

  The sign detecting means may detect that the turn signal operation of the host vehicle has been performed as described in claim 12, and may detect steering of the host vehicle as described in claim 13. It may be detected as a movement sign that the corner is equal to or greater than a preset threshold.

  In both of these cases, it is possible to reliably detect an operation representing the intention of the driver to change the lane.

Embodiments of the present invention will be described below with reference to the drawings.
<Overall configuration>
FIG. 1A is a block diagram showing a configuration of a lane change assist device to which the present invention is applied, and FIG. 1B is a layout diagram showing an arrangement of each component when the device is installed in a vehicle. It is.

  As shown in FIGS. 1 (a) and 1 (b), the lane change assist device 1 captures the rear side of the host vehicle and displays the captured image, and the speed of the host vehicle. A vehicle speed sensor 3 that outputs a corresponding detection signal, a direction indicator sensor 4 that detects an operating state of the direction indicator (that is, a winker operation), and a steering angle sensor that detects the left and right angles of the steering (that is, the steering angle). 5, a voice output unit 6 for outputting various guide voices, and the like, and executes various processes in accordance with inputs from the electronic door mirror 2 and the sensors 3 to 5 to control the electronic door mirror 2 and the voice output unit 6. And a control unit 10.

  Among these, the electronic door mirror 2 is provided at a place where the door mirror in the own vehicle is normally installed instead of a general door mirror, and images the current situation on the road at the rear side of the own vehicle together with a part of the vehicle. A camera (for example, a CCD camera) 7 and a display unit (for example, a liquid crystal display) 8 for displaying images of various information such as captured images captured by the camera 7 are provided.

  In the following, for convenience of explanation, among the electronic door mirrors 2, the one installed on the right side of the host vehicle is referred to as the right door mirror 11, and the one installed on the left side of the host vehicle is referred to as the left door mirror 12. 8, the first camera 71 and the first display unit 81 are provided in the right door mirror 11, and the second camera 72 and the second display unit 82 are provided in the left door mirror 12.

  The control unit 10 is mainly composed of a well-known microcomputer comprising a CPU, ROM, RAM, I / O and a bus line for connecting these components. Among these, the ROM includes a camera 7. The internal parameters CP1 representing the internal characteristics (ie, the focal length of the lens, the angle of view, the number of pixels, etc.) and the external parameters CP2 representing the external characteristics of the camera 7 (ie, the mounting position and orientation of the camera 7) are stored. There is an area that has been. Moreover, the control part 10 performs the following lane change assistance control processing based on the program memorize | stored in ROM.

<Lane change support control processing>
Here, the lane change support control process executed by the control unit 10 will be described in detail with reference to the flowchart shown in FIG.

  Note that the lane change assist control process of the present embodiment is executed in parallel for each of the left and right electronic door mirrors 2 and is repeatedly executed while the engine of the host vehicle is operating (that is, the ignition switch is on). The

First, when this process is started, in S110, the speed of the host vehicle (that is, the host vehicle speed) is acquired based on the detection signal input from the vehicle speed sensor 3.
In subsequent S115, it is determined whether or not the vehicle speed acquired in S110 exceeds a preset threshold value (for example, 10 km / h; hereinafter referred to as a threshold speed). If it is determined, the process proceeds to S170.

  In S120, among the lanes adjacent to the lane in which the host vehicle travels based on the captured image captured by the camera 7N that is the target of this processing (hereinafter referred to as the target camera) among the cameras 7 included in the electronic door mirror 2. Then, an adjacent lane detection process (described later) for detecting an adjacent lane (hereinafter referred to as an “target lane”) on the side where the target camera 7N is installed is performed.

  The target camera 7N indicates the first camera 71 if the process is for the right door mirror 11 and the second camera 72 if the process is for the left door mirror 12. In this adjacent lane detection process, an adjacent flag described later is rewritten to 1 when the target lane is detected.

  In the following S125, it is determined whether or not the adjacent flag has been rewritten to 1 in S120. If an affirmative determination is made, it is assumed that the target lane exists and the process proceeds to S130, and if a negative determination is made, the target lane is determined. The process proceeds to S160.

  In S130, based on the captured image captured by the target camera 7N and the target lane detected in S120, if the other vehicle does not exist on the target lane, the vehicle can safely change the lane A margin area setting process (to be described later) for setting (hereinafter referred to as a margin area) is performed.

In subsequent S140, an image control process (described later) for combining the additional image generated in accordance with the situation around the host vehicle and the captured image captured by the target camera 7N is executed.
In the image control process, when a vehicle traveling in the target lane (hereinafter referred to as the target vehicle) is present in the margin area, a caution level that indicates the degree to which the target vehicle needs attention when changing the lane is automatically set. It is set according to the relative relationship (relative speed, distance) between the vehicle and the target vehicle.

In subsequent S150, the image synthesized in S140 (that is, the synthesized image) is displayed on the display unit (hereinafter referred to as a target display unit) 8N that is the target of the present process, and the present process ends.
The target display unit 8N indicates the first display unit 81 if the process is for the right door mirror 11 and the second display unit 82 if the process is for the left door mirror 12. Moreover, what comprises the target camera 7N and the target display part 8N among the electronic door mirrors 2 is set as the target door mirror 1N.

  On the other hand, when a negative determination is made in the previous S125, that is, in S160 that proceeds when the target lane does not exist, the electronic door mirror 2 (hereinafter referred to as the opposite side door mirror) 1C opposite to the target door mirror 1N is executed. Based on the process (that is, the lane change support control process), the attention level (hereinafter referred to as the opposite side level) in the opposite side door mirror 1C is acquired.

In subsequent S165, it is determined whether or not the opposite level acquired in S160 has been set. If an affirmative determination is made, the process proceeds to S140, and if a negative determination is made, the process proceeds to S170.
In S170 that proceeds when a negative determination is made in S115 or S165, the captured image captured by the target camera 7N is displayed on the target display unit 8N, and the present process is terminated.

  In this way, in the lane change assist control process, the composite image is displayed when the host vehicle speed exceeds the threshold speed and the target lane exists or the opposite side level is set. In other cases, the captured image is displayed as it is.

<Neighboring lane detection processing>
Next, the adjacent lane detection process performed in S120 during the previous lane change support control process will be described in detail with reference to the flowchart shown in FIG.

  First, in S210, as shown in FIG. 4, the position of the white line on the road is detected based on the captured image captured by the target camera 7N. The white line is detected as a color brighter than the road surface (that is, white) by, for example, performing a known edging process (edge enhancement) on the captured image and binarizing the image.

  In subsequent S220, based on the position of the white line detected in S210, a pair of white lines (hereinafter referred to as a white line pair) 22 constituting the target lane is extracted. At this time, the white line pair closest to a part of the host vehicle displayed in the captured image is estimated to constitute the target lane.

  In subsequent S230, based on the extraction result in S220, it is determined whether or not a white line pair exists on the captured image captured by the target camera 7N. If an affirmative determination is made, the process proceeds to S240, and a negative determination is made. Advances to S260.

In S240, an adjacent flag indicating the state on the side where the target door mirror 1N is installed is set to 1 indicating that the target lane exists among the circumstances around the host vehicle traveling.
In subsequent S250, the position of the boundary line with the other lane in the target lane is specified based on the white line pair extracted in the previous S220 (that is, the white line pair constituting the target lane), and this process is terminated. The boundary line is specified based on a plurality of white line pairs by connecting the white lines constituting each white line pair to the white lines constituting the other white line pairs along the longitudinal direction thereof.

On the other hand, in S260 that proceeds when a negative determination is made in the previous S230, the adjacent flag is set to 0 indicating that the target lane does not exist, and the present process ends.
<Allow area setting process>
Next, the margin area setting process performed in S130 during the previous lane change assist control process will be described in detail with reference to the flowchart shown in FIG.

  First, in S310, based on the captured image captured by the target camera 7N, it is determined whether or not a vehicle is present on the target lane, that is, whether or not the target vehicle is present. The process proceeds to S320, and if a negative determination is made, the process proceeds to S340.

In S320, the speed of the target vehicle with respect to the host vehicle (that is, the relative speed) is calculated based on the captured image captured by the target camera 7N, and the process proceeds to S330.
The relative speed is represented by a change over time in the distance between the target vehicle and the host vehicle by a known coordinate transformation method using camera parameters. In the present embodiment, the internal parameters CP1 and external parameters CP2 of the target camera 7N stored in the ROM of the control unit 10 are used as camera parameters.

  In S330, based on the relative speed calculated in S320, the length of the margin area (hereinafter referred to as margin area length) is set such that the larger the relative speed, the wider the margin area extends in the direction opposite to the traveling direction of the host vehicle. Is set, and this processing ends.

The margin area length is set by adding, for example, a preset margin area length to the relative speed multiplied by a proportional coefficient.
On the other hand, in S340 that proceeds when a negative determination is made in the previous S310, based on the own vehicle speed acquired in S110 during the previous lane change assist control process, the larger the own vehicle speed, the more the margin region becomes the traveling direction of the own vehicle. Sets the margin area length so as to spread in the opposite direction, and ends this processing.

The margin area length is set, for example, by adding a value obtained by multiplying the vehicle speed by a proportional coefficient to the preset margin area length in the same manner as in S330.
In this way, in the margin area setting process, the margin area length is set according to the relative speed when a vehicle exists in the target lane, and according to the own vehicle speed when there is no vehicle in the target lane. I am trying to set it.

<Image control processing>
Next, the image control process performed in S140 during the previous lane change assist control process will be described in detail with reference to the flowchart shown in FIG.

  First, in S405, a boundary image in which the boundary line with the other lane in the target lane is emphasized based on the position of the boundary line set in S250 during the previous adjacent lane detection process and the captured image captured by the target camera 7N. Is generated. This boundary image is temporarily stored in the RAM of the control unit 10.

  In subsequent S410, an area image in which the margin area is emphasized on the target lane is generated based on the margin area length set in S330 or S340 during the previous margin area setting process and the captured image captured by the target camera 7N. To do. Note that blue is set as the default color of the region image. The region image is temporarily stored in the RAM of the control unit 10 together with the boundary image.

  In subsequent S415, based on the area image stored in the RAM of the control unit 10 and the captured image captured by the target camera 7N, it is determined whether or not there is a vehicle (that is, the target vehicle) in the margin area. If the determination is affirmative, the process proceeds to S420. If the determination is negative, the process proceeds to S460.

  In S420, a warning image indicating that the host vehicle cannot safely change the lane is generated by a warning message (for example, “lane change not possible”) or a symbol (for example, exclamation point). This warning image is temporarily stored in the RAM of the control unit 10 together with the boundary image and the region image.

  In subsequent S425, based on the region image stored in the RAM of the control unit 10 and the captured image captured by the target camera 7N, the attention corresponding to the relative relationship (relative speed, distance) between the host vehicle and the target vehicle. Set the level.

  For example, the position of the target vehicle does not exceed a predetermined ratio in the margin area (for example, half of the margin area) (hereinafter referred to as condition A), and the relative speed is equal to or less than a predetermined threshold (for example, 10 km / h). When both of them (hereinafter referred to as condition B) are satisfied, the attention level is set to a low level (hereinafter referred to as L level) with a relatively low risk level. Alternatively, when at least one of the condition A or the condition B is not satisfied, the attention level is raised to a high level (hereinafter referred to as H level) with a high degree of risk.

In subsequent S430, it is determined whether or not the attention level set in S425 is the H level. If the determination is affirmative, the process proceeds to S435, and if the determination is negative, the process proceeds to S440.
In S435, the color of the area image stored in the RAM of the control unit 10 is changed from blue to indicate that the degree of danger is relatively low but attention (for example, acceleration of the host vehicle) is required when changing lanes. Change to yellow and go to S445.

  On the other hand, in S440, the color of the region image stored in the RAM of the control unit 10 is blue to indicate that the degree of danger is high and prohibition of lane change (for example, waiting for the target vehicle to pass). Change from red to red and proceed to S445.

  In S445, based on the operation state of the direction indicator detected by the direction indicator sensor 4, it is determined whether or not a winker operation has been performed in a certain direction of the target vehicle (that is, the target lane side). If NO in step S455, the process advances to step S450.

  In S450, based on the steering angle detected by the steering angle sensor 5, it is determined whether or not the target lane side angle of the steering is equal to or greater than a predetermined threshold (for example, 15 °), that is, a certain level or more on the target lane side. It is determined whether or not the steering wheel operation has been performed. If an affirmative determination is made, the process proceeds to S455, and if a negative determination is made, the process proceeds to S470.

In S455, in the area image stored in the RAM of the control unit 10, the setting for increasing the brightness and blinking is performed, and the process proceeds to S470.
On the other hand, in S460 which proceeds when a negative determination is made in S415, the opposite side level is acquired from the same process (that is, the lane change support control process) executed for the opposite side door mirror 1C, and the opposite side level has been set. If the determination is affirmative, the process proceeds to S465. If the determination is negative, the process proceeds to S470.

  In S465, the host vehicle safely changes the lane to the opposite side (the direction of the adjacent lane that is not the target lane) by a caution message (eg, “No lane change on opposite side”) or a symbol (eg, exclamation point). A caution image indicating that it cannot be performed is generated, and the process proceeds to S470. The attention image is temporarily stored in the RAM of the control unit 10 together with the boundary image and the region image.

  Finally, in S470, a composite image is generated by superimposing an additional image (boundary image, region image, warning image, attention image) stored in the RAM of the control unit 10 on a captured image captured by the target camera 7N. This process is terminated.

  When the region image (or boundary image) of the additional images is superimposed on the captured image, for example, a weight (transmission coefficient Tα; where 0 <Tα <) is applied to the pixel value α of the region image (or boundary image). 1) is set in advance, and a combination of a value obtained by multiplying the pixel value α by the transmission coefficient Tα and a value obtained by multiplying the pixel value β of the captured image by the transmission coefficient Tβ (= 1−Tα) is combined. Each image is synthesized as the pixel value γ of the image.

  In this way, the image control process generates, for example, as shown in FIG. 7A, a composite image in which the boundary line between the other lane and the margin area in the target lane is emphasized when the target vehicle exists. However, as shown in FIG. 7B, when the target vehicle exists in the margin area, the synthesized image is generated by changing the color or brightness of the margin area and adding a warning message. .

  In the above embodiment, the camera 7 (first camera 71 and second camera 72) is an image acquisition unit, S120 is an adjacent lane identification unit, S125 and S130 are region setting units, and the display unit 8 (first display unit 81 and The second display unit 82) corresponds to image display means, S110, S115, and S140 to S170 correspond to display control means, S445 and S450 correspond to sign detection means, and S455 and S470 correspond to warning notification means.

<Effect of this embodiment>
As described above, in the lane change assist device 1 according to the present embodiment, when an adjacent lane is detected based on the captured image captured by the target camera 7N, if there is no other vehicle on the adjacent lane, the host vehicle Sets an area where the lane can be changed safely (that is, a margin area), and an image in which the margin area is emphasized (that is, an area image) is superimposed on the captured image and displayed on the target display unit 8N.

  Therefore, according to the lane change support device 1 of the present embodiment, the image image that is an index at the time of lane change and the captured image obtained by capturing the actual state on the adjacent lane in the rear side of the host vehicle are integrated. This makes it possible for the driver to intuitively recognize the required lane distance for changing lanes to the rear side, and thus allowing the driver to make a quick and accurate judgment when changing lanes. it can.

  Further, the lane change support device 1 sets a caution level based on the position of the target vehicle in the margin area and the relative speed of the target vehicle with respect to the host vehicle, and gradually changes the color of the margin area according to the caution level. Change to display.

  Therefore, according to the lane change support device 1, the driver can intuitively recognize the degree of attention to the target vehicle when changing the lane (that is, the degree of caution) by the color of the margin area in the display image. As a result, it is possible to provide the driver with quicker and more accurate judgment material when changing lanes.

  Note that, according to the lane change assist device 1, the relative speed between the host vehicle and the target vehicle is calculated by the coordinate transformation method using the internal parameter CP1 and the external parameter CP2 of the target camera 7N, and thus installed in each electronic door mirror 2. The number of cameras 7 to be used is only one, and the manufacturing cost can be reduced.

  Furthermore, according to the lane change support device 1, based on the captured image captured by the camera 7 installed on the electronic door mirror 2, the detection of the adjacent lane and the target vehicle, and the relative relationship between the host vehicle and the target vehicle. Therefore, it is not necessary to provide a vehicle detection device other than the camera 7 (for example, a radar device), and the device configuration can be simplified.

[Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it is possible to implement in various aspects.

  For example, in the above embodiment, the electronic door mirror 2 including the camera 7 and the display unit 8 captures the rear side of the host vehicle and displays the captured image, but is not limited thereto.

  Specifically, a half mirror may be adopted as the mirror surface of the electronic door mirror 2, and the camera 7 and the display unit 8 may be installed at a position inside the half mirror. In this case, when the lane change support control process is not performed, the captured image need not be displayed on the display unit 8, and the electronic door mirror 2 can be used as a normal door mirror by the driver.

  Or the display part 8 may be installed in the both sides on the dashboard in a vehicle interior, for example. In this case, the screen size of the display unit 8 can be set larger, and the display image can be recognized more easily by the driver.

  Furthermore, a plurality of cameras 7 may be installed on the electronic door mirror 2. In this case, the position of the target object displayed in the captured image can be easily specified by stereo vision, and thus the control burden on the lane change assist device 1 can be reduced.

By the way, in the adjacent lane detection process performed by the control unit 10, even when a lane mark other than the white line is detected, the boundary line of the adjacent lane may be specified based on the arrangement of the lane mark.
Further, as shown in FIG. 8, a sensor 17 (for example, an in-vehicle camera) is further installed in front of the host vehicle, and the target lane is detected based on the position of the lane mark obtained from the sensor 17. Also good.

  On the other hand, in the margin area setting process performed by the control unit 10, when the target vehicle exists, the margin area length corresponding to both of these speeds may be set using the host vehicle speed together with the relative speed. Alternatively, a margin area having a preset margin area length may be set regardless of whether or not the target vehicle exists. In addition, you may make it attach and display the scale showing the distance with respect to the own vehicle on a margin area | region.

  In the image control process performed by the control unit 10, a boundary image in which the boundary line with the other lane in the target lane is emphasized is generated. For example, this boundary image is only the boundary line with the lane in which the host vehicle travels. It may be emphasized.

  Further, in the image control processing performed by the control unit 10, the luminance may be changed instead of (or together with) the color of the marginal area according to the set attention level, and a warning message or a warning message is displayed together with the sound. A warning sound (or voice message) may be output via the output unit 6.

The block diagram and arrangement | positioning figure which show the structure of the lane change assistance apparatus to which this invention was applied. The flowchart which shows the detail of the lane change assistance control process which the control part 10 of the lane change assistance apparatus 1 performs. The flowchart which shows the detail of the adjacent lane detection process performed by S120 during a lane change assistance control process. Schematic which shows the area | region which the target camera 7N images. The flowchart which shows the detail of the margin area setting process performed by S130 during a lane change assistance control process. The flowchart which shows the detail of the image control process performed by S140 during a lane change assistance control process. Schematic which shows an example of the synthesized image which the target display part 8N displays. Schematic for demonstrating the other method of detecting a target lane. Schematic which shows the display screen of the conventional lane change assistance apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Lane change assistance apparatus, 2 ... Electronic door mirror, 3 ... Vehicle speed sensor, 4 ... Direction indicator sensor, 5 ... Steering angle sensor, 6 ... Audio | voice output part, 7 ... Camera, 8 ... Display part, 10 ... Control part.

Claims (13)

Image acquisition means for acquiring a captured image obtained by capturing the current situation on the road at the rear side of the vehicle together with a part of the vehicle;
Based on the captured image acquired by the image acquisition unit, an adjacent lane specifying unit that specifies an adjacent lane of a lane on which the vehicle travels on the road;
When the adjacent lane detection unit identifies the adjacent lane, if there is no other vehicle in the area on the adjacent lane, there is a margin area in which the vehicle can safely change the lane. Area setting means to be set;
Image display means for displaying the captured image acquired by the image acquisition means;
Display control means for performing superimposition display processing for superimposing an area image in which the margin area set by the area setting means is emphasized on the captured image and displaying the image on the image display means;
A lane change assisting device comprising:   The lane change support device according to claim 1, wherein the image display means is provided on a door mirror of the vehicle.   The lane change support device according to claim 1, wherein the image acquisition unit is provided in a door mirror of the vehicle.   The region setting means acquires a relative speed between the traveling vehicle traveling on the adjacent lane and the vehicle, or the own vehicle speed, and uses the relative speed or the own vehicle speed to increase the speed. The lane change assist device according to any one of claims 1 to 3, wherein a size of the margin area is set so that the margin area extends in a direction opposite to a traveling direction of the vehicle. .   The superimposed display processing by the display control means superimposes a boundary image in which a boundary line between the adjacent lane specified by the adjacent lane specifying means and a lane in which the vehicle is traveling is superimposed on the captured image together with the area image. The lane change assisting device according to any one of claims 1 to 4, wherein the lane change assisting device is provided.   6. The display control unit according to claim 1, wherein the display control unit acquires the host vehicle speed, and prohibits execution of the superimposed display process when the host vehicle speed is equal to or lower than a preset threshold value. The lane change support device described in 1.   The display control means acquires relative information representing a relative relationship between a traveling vehicle traveling on the adjacent lane and the vehicle, and changes the color or brightness of the margin area based on the relative information. The lane change support device according to any one of claims 1 to 6, wherein a change process is performed.   The lane change support device according to claim 7, wherein the display control unit prohibits execution of the display change process when the traveling vehicle exists outside the margin area.   The lane change assisting device according to claim 7 or 8, wherein the relative information is at least one of a relative speed or a distance between the traveling vehicle and the vehicle. The image acquisition means acquires the captured image for each of the two rear sides of the vehicle,
The image display means is provided at two locations of the vehicle for displaying the captured images acquired by the image acquisition means,
When the display change process is executed, the display control means performs the superimposed display process on the image display means on the side on which the traveling vehicle that is the target of the display change process is displayed, and the other side The lane change assisting device according to any one of claims 7 to 9, wherein a warning message is displayed on the image display means. Sign detection means for detecting a movement sign representing a sign that the vehicle moves in the adjacent lane direction;
Warning notification means for notifying a warning when the sign detection means detects the movement sign while another vehicle is traveling in the margin area;
The lane change assisting device according to any one of claims 1 to 10, further comprising:   The lane change assisting device according to claim 11, wherein the sign detection means detects that the turn signal operation of the vehicle has been performed as the movement sign.   The lane change assisting device according to claim 11 or 12, wherein the sign detection means detects that the steering angle of the vehicle is equal to or greater than a preset threshold as the movement sign.