JP2015020584A - Vehicular lane recognition device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular lane recognition device which can alleviate incongruity and anxiety imparted to a driver.SOLUTION: When it is determined that a degree of the improperness of a lane detection result is large, all of a lane keep support system, a lane deviation alarm system, a lane deviation prevention support system and blind spot intervention are prohibited, and when it is determined that the improperness is small, only the lane keep support system is prohibited, and the lane deviation alarm system, the lane deviation prevention system, and the blind spot intervention are permitted.

Description

  The present invention relates to a vehicle lane recognition device.

  In Patent Document 1, when the lane detection result based on the image acquired by the camera is inappropriate, the driving support control using the lane detection information is prohibited, thereby erroneous driving support based on the inappropriate lane detection result. A technique for suppressing the implementation of the above and reducing the driver's uncomfortable feeling is disclosed.

International Publication No. 2007/074591

However, in the above-described prior art, when the lane detection result is inappropriate, driving support by the system cannot be performed at all, and there is a problem that scenes that can be supported are greatly limited.
An object of the present invention is to provide a vehicle lane recognizing device capable of expanding a scene that can support driving while suppressing an uncomfortable feeling given to a driver.

  In the present invention, when it is determined that the inappropriate degree of the lane detection result is large, the first driving support means for continuously supporting the driving of the driver and the second driving support means for supporting the driving of the driver in a single manner are provided. Both are prohibited, and when it is determined that the degree of inappropriateness is small, only the first driving support means is prohibited and the second driving support means is permitted.

  Since the driver's discomfort is small compared to continuous driving support, if the degree of inappropriateness is small, only continuous driving support is prohibited, and single driving support is allowed. It is possible to expand the scenes that can support driving while suppressing the sense of discomfort given to the driver.

1 is a configuration diagram of a vehicle to which a vehicle lane recognition device of Example 1 is applied. 3 is a control block diagram of the image processing apparatus 2. FIG. 6 is a flowchart illustrating a flow of interruption content output processing according to the first embodiment. It is a flowchart which shows the flow of the interruption content output process of Example 2. FIG. It is an output characteristic figure of function func1.

[Example 1]
[System configuration]
FIG. 1 is a configuration diagram of a vehicle to which the vehicle lane recognition device of the first embodiment is applied.
A CMOS camera (hereinafter referred to as a camera) 1 captures an image of the situation in front of the host vehicle and performs lane recognition using the built-in image processing device 2. The vehicle speed detection device 3 detects the vehicle speed from the wheel speed of the rear wheel 4 that is a driven wheel. The yaw rate detection device 5 detects the yaw rate of the vehicle. The steering angle detection device 6 detects the steering angle of the steering wheel 7. The steered actuator 8 steers the front wheel 9 that is a steered wheel. Information such as the lane recognition result, the vehicle speed, the yaw rate, and the steering angle is input to the steering control device 10 and the image processing device 2.

  The steering control device 10 is based on each input information, lane departure warning system (LDW), lane departure prevention support system (LDP: Lane Departure Prevention), blind spot intervention (BSI: Blind Spot Intervention) Then, an application for driving support control using lane detection information such as Lane Keeping Support System (LKS) is executed, and if necessary, the steering actuator 8 is driven to steer the front wheels. Here, the lane departure warning system alerts the driver by warning (display and buzzer sound) when the driver unintentionally approaches the lane marker. The lane departure prevention support system supports an operation in which a driver unintentionally generates a force that changes the direction of the vehicle and returns the driver to the lane when the vehicle approaches the lane marker. Blind Spot Intervention assists the driver in returning to the original lane by generating a force to change the direction of the vehicle when a vehicle approaching from the side and rear is sensed when the lane is changed. The lane keep support system generates a force to travel along the lane (center) when the vehicle's course is likely to be disturbed due to the inclination of the road or crosswind on a straight road on the expressway. It is to support.

[Image processing device]
FIG. 2 is a control block diagram of the image processing apparatus 2.
The feature extraction unit 21 extracts the features of the lane marker by image processing.
The lane detection unit 22 detects the travel lane (travel lane) of the host vehicle according to the extraction result of the feature extraction unit 21.
The inappropriate degree determination unit 23 determines an inappropriate degree of the lane detection result of the lane detection unit 22. As the degree of inappropriateness, “large inappropriate” having a large inappropriate level and “medium inappropriate” having a small inappropriate level are determined.
The inappropriate frequency monitoring unit 24 monitors the frequency of inappropriate determination (major inappropriate / medium inappropriate frequency) by the inappropriate degree determining unit 23.
The interruption content output unit 25 determines the interruption content of lane recognition according to the determination result of the inappropriate degree determination unit 23 and the monitoring result of the inappropriate frequency monitoring unit 24, and outputs it to the subsequent stage (the turning control device 10).
The steering control device 10 prohibits all applications when the suspension information output unit 25 is notified of the prohibition of the wheel detection information, while the lane keep support system when it is notified that the information is low reliability. Control is prohibited for applications that operate even in the middle of the lane, such as lane departure warning systems, lane departure prevention support systems, and blind spot interventions. For applications that only need to be able to discriminate (no problem even if the lane detection accuracy is low), normal control is continued.
Further, the steered control device 10 increases the time during which the control is prohibited as the frequency of inappropriate determination is higher.

[Suspended content output processing]
FIG. 3 is a flowchart illustrating the flow of interruption content output processing according to the first embodiment. This process is repeatedly executed every predetermined calculation cycle (for example, 50 [ms]).
In step S101, a front image of the host vehicle captured by the camera 1 is read.
In step S102, the steering angle, yaw rate, vehicle speed, and turning radius are read.
In step S103, the camera image read in step S101 is processed, the travel lane of the host vehicle is recognized, and the position and orientation of the host vehicle with respect to the travel lane are calculated. As a specific method, for example, a traveling lane is detected using a method described in Japanese Patent Application Laid-Open No. 2004-252827, and a road shape or a host vehicle is detected using a method described in Japanese Patent Application Laid-Open No. 2004-318618. Calculate the position and orientation of the.
In step S104, if the following expression is satisfied, the process proceeds to step S105, and if not, the process proceeds to step S106.
abs (distant own lane detection position-neighboring own lane detection position)> THR_GAP
Here, abs (A) is a function that outputs the absolute value of the value of A, and the distant own lane detection position is a lane marker detection position corresponding to a distant portion on the image obtained in step S103, The nearby own lane detection position is also a lane marker detection position corresponding to the vicinity on the image obtained in the same manner. This is confirmed by both the left marker and the right marker on the vehicle lane. THR_GAP is a threshold for discontinuity in the near and far.
In this step, it is determined whether or not a discontinuity in position between the far region and the nearby region is recognized.

In step S105, the next process is performed.
Large inappropriate frequency counter 1 = Large inappropriate frequency counter 1 + 1
Large inappropriate frequency timer 1 = Large inappropriate frequency timer 1 + 2,000
Large inappropriate detection flag 1 = 1
Here, the maximum value of the large inappropriate frequency counter 1 is limited to, for example, 30 [times], and is more important than the large inappropriate frequency counter 3 described later when calculating the frequency as a whole in step S116 described later. Set to.
Similarly, the maximum value of the large inappropriate frequency timer 1 is limited to 30,000 [ms], for example, and the time until forgetting about this inappropriateness in steps S114 to S115 described later is larger than the large inappropriate frequency timer 3 described later. Set to be longer. The large inappropriate detection flag 1 is an auto variable that becomes zero when the process does not proceed to step S105.

In step S106, if the following expression is satisfied, the process proceeds to step S108, and if not, the process proceeds to step S107.
MarkerExistCNT (distant own lane)> THR_FLOW and MarkerExistCNT (near own lane) <1
Here, MarkerExistCNT (own lane) is a function that counts the number of times when the own lane in the corresponding area obtained in step S103 exists in the latest 1 s (the latest 20 times because it is a 50 ms cycle), and THR_FLOW Is a constant such as 15 [times]. The same confirmation is performed on both the left and right markers of the own lane.
In this step, it is determined whether or not a state in which the feature of the lane marker detected as the own lane does not flow from a distant place to a nearby place is recognized.
In step S107, the following processing is performed.
Large inappropriate frequency counter 2 = Large inappropriate frequency counter 2 + 1
Large inappropriate frequency timer 2 = Large inappropriate frequency timer 2 + 2,000
Large inappropriate detection flag 2 = 1
Here, the maximum value of the large inappropriate frequency counter 2 is limited to, for example, 40 [times]. From the large inappropriate counter 1 and the large inappropriate counter 3 described later when calculating the frequency as a whole in step S116 described later. Also set to be emphasized. Similarly, the maximum value of the large inappropriate frequency timer 2 is limited to 35,000 [ms], for example, and the time until forgetting about this inappropriateness in steps S114 to S115 described later is the large inappropriate frequency timer 1 and the large inappropriate frequency described later. Set to be longer than inappropriate frequency timer 3. The large inappropriate detection flag 2 is an auto variable that becomes zero when the process does not proceed to step S105.

In step S108, if the following expression is satisfied, the process proceeds to step S109. Otherwise, the process proceeds to step S110.
Previous lane marker brightness-MarkerBright> THR_BRT
Here, MarkerBright (own lane) is a function that outputs a larger value as the own lane obtained in step S103 becomes brighter. The previous own lane marker brightness is the second term on the left side obtained in the process 50 ms before. THR_BRT is a constant such as 128, which is half when the light / dark gradation is 8 bits.
In this step,
In step S109, the following processing is performed.
Large inappropriate frequency counter 3 = Large inappropriate frequency counter 3 + 1
Large inappropriate frequency timer 3 = Large inappropriate frequency timer 3 + 1,000
Large inappropriate detection flag 3 = 1
Here, the maximum value of the large inappropriate frequency counter 3 is limited to 20 [times], for example, so that it is not more important than the large inappropriate frequency counters 1 and 2 when calculating the frequency as a whole in step S116 described later. Set. Similarly, the maximum value of the large inappropriate frequency timer 3 is limited to, for example, 10,000 [ms], and the time until forgetting about this inappropriateness in steps S114 to S115 described later is larger than that of the large inappropriate frequency timers 1 and 3. Set to be shorter. The large inappropriate detection flag 3 is an auto variable that becomes zero when the process does not proceed to step S105.

In step S110, if the following expression is satisfied, the process proceeds to step S111. Otherwise, the process proceeds to step S112.
THR_S <abs (Nearby own lane detection position-Previous neighborhood own lane detection position) <THR_L
THR_S is an appropriate positive value determined as a small inappropriate degree, and THR_L is a constant larger than THR_S determined as a large inappropriate degree.
In this step, it is determined whether or not the difference between the previous state of the lane marker detected as the own lane and the current state of the lane marker is in a range indicating medium inappropriateness.
In step S111, the following processing is performed.
Medium inappropriate timer = 500
In step S112, various timer processes are performed.
Large inappropriate frequency timer 1 = Large inappropriate frequency timer 1 − 50
Large inappropriate frequency timer 2 = Large inappropriate frequency timer 2 − 50
Large inappropriate frequency timer 3 = Large inappropriate frequency timer 3 − 50
Medium inappropriate timer = Medium inappropriate timer − 50
Note that the lower limit value of each timer is limited to zero.

In step S113, if any of the following inequalities is satisfied, the process proceeds to step S114. Otherwise, the process proceeds to step S115.
Large inappropriate frequency timer 1 ≤ 0
Large inappropriate frequency timer 2 ≦ 0
Large inappropriate frequency timer 3 ≦ 0
In step S114, the large inappropriate frequency counter corresponding to the inequality satisfied in step S113 is cleared to zero.
In step S115, the overall inappropriate frequency is determined from the following inequality. If this inequality is satisfied, the process proceeds to step S116; otherwise, the process proceeds to step S117.
Large inappropriate frequency counter 1 + Large inappropriate frequency counter 2 + Large inappropriate frequency counter 3> THR_FQ
Here, THR_FQ is an appropriate positive threshold value for determining that a large inappropriate frequency is high.

In step S116, the following counter setting is performed.
High frequency determination timer = 180,000
In step S117, the following counter processing is performed.
Frequency determination timer = Frequency determination timer − 50
Note that the lower limit of this counter is limited to zero.
In step S118, if the following equation is satisfied, the process proceeds to step S119, and if not, the process proceeds to step S120.
High frequency determination timer> 0
In step S119, the downstream application is notified of the prohibition of the lane detection information, and the lane detection process is reset from the initial state.
In step S120, if both of the following expressions are satisfied, the process proceeds to step S119, and if not, the process proceeds to step S121.
Large inappropriate detection flag 1 + large inappropriate detection flag 2 + large inappropriate detection flag 3> 0
High-frequency determination timer ≤ 0
In step S121, if the following equation is satisfied, the process proceeds to step S122, and if not, the process proceeds to step S123.
Medium inappropriate timer> 0
In step S122, the subsequent application is notified that the information is low in reliability.
In step S123, the previous value is updated such that “current value” is substituted for “previous value” used in steps S108, S110, and the like.

Next, the operation will be described.
In the first embodiment, when the degree of inappropriateness is large (largely inappropriate), all applications that perform driving support are prohibited (S120 → S119). If the lane detection accuracy is remarkably low, the actual control amount deviates greatly from the appropriate control amount for driving assistance, which not only gives the driver a sense of incongruity but also may hinder the driving operation of the driver. Therefore, in this case, by disabling all driving assistance, it is possible to reduce the uncomfortable feeling given to the driver and to prevent the driver's driving operation from being hindered by erroneous control intervention.

  Further, in the first embodiment, when it is determined that the inappropriate degree is small (medium inappropriate), the driver continuously to maintain a desired state (running along the lane) as in the lane keeping support system. Only applications that support driving are prohibited, and a single lane departure warning system, lane departure prevention support system, blind spot intervention, etc., to avoid certain conditions (lane departure, contact with subsequent vehicles when changing lanes) In particular, the application that supports the driving of the driver is permitted (S121 → S122). In the conventional lane recognition device, when the lane detection result is inappropriate, driving support by the system cannot be performed at all, and there is a problem that scenes that can be supported are greatly limited.

  On the other hand, in the first embodiment, when the degree of inappropriateness is small, by permitting all driving assistance except the lane keeping support system, it is possible to expand the scenes where driving assistance is possible as compared with the conventional technology. In the lane departure warning system, lane departure prevention support system, and blind spot intervention, it is only necessary to determine whether or not the vehicle departs from the lane. Since it does not perform control intervention, the driver feels a little uncomfortable. On the other hand, in a system that continuously performs control intervention, such as a lane keeping support system, even if the lane detection accuracy is slightly low, the driver feels uncomfortable because the malfunction is continuously performed. Therefore, the application that supports the driving of the driver on a continuous basis is continued, and by prohibiting only the application that continuously supports the driving of the driver, it is possible to expand the scenes that can support driving while suppressing the uncomfortable feeling given to the driver.

  In the first embodiment, the frequency of inappropriate determination is monitored, and if the frequency of inappropriate determination is high, all driving assistance is prohibited (S118 → S119). In the conventional lane recognition device, since the frequency of inappropriate determination is not considered, when prohibiting control using lane detection information only when the degree of inappropriateness is large, in a situation where minor inappropriateness continues, By performing control using the lane detection result, the driver feels uncomfortable. On the other hand, when control using lane detection information is prohibited even if it is insignificant, there is a problem that the operable scenes of the control system are greatly reduced. Therefore, if the frequency of inappropriate judgment is high, all driving support controls are prohibited, and if the frequency of inappropriate judgment is low, each driving support control is permitted or prohibited according to the inappropriate level. The discomfort given to can be effectively suppressed.

In the first embodiment, it is determined that the degree of inappropriateness is large individually by a plurality of determination methods (S104, S106, S108), the inappropriate frequency is obtained for each determination method, and when determining the overall frequency, Of the determination methods, the frequency of the determination method with high certainty (the certainty is high in the order of S106, S104, and S108) is emphasized (S115). Multiple determination methods determine whether or not the degree of inappropriateness is large individually, but those that are difficult to distinguish from appropriate detection have a control interruption time (control prohibition period) when treated as the same frequency as other cases. Since it becomes too long, when determining whether or not the invincibility frequency is finally high, it is possible to prevent the control interruption time from becoming too long by increasing the weighting of the high certainty.
Further, in the first embodiment, an inappropriate frequency is obtained for each judgment method, and the time for holding the obtained frequency (large inappropriate frequency timers 1, 2, and 3) is set to be longer as the judgment method is more reliable. (S114, S115). Multiple determination methods determine whether or not the degree of inappropriateness is large individually, but those that are difficult to distinguish from appropriate detection have a control interruption time (control prohibition period) when treated as the same frequency as other cases. Since it becomes too long, it is possible to prevent the control interruption time from becoming too long by increasing the weighting of the high certainty in determining the determination continuation time.

In Example 1, it is determined whether or not the discontinuity between the distant region and the nearby region is recognized. If the discontinuity is recognized, it is determined that the inappropriate degree is large (S104 → S105). Thereby, it is possible to determine a state where there is a high possibility that noise other than the lane marker such as a repair mark is detected.
In Example 1, it is determined whether or not a state in which the feature of the lane marker detected as the own lane does not flow from a distant place to the vicinity is recognized, and when the flow is stagnant, it is determined that the inappropriate degree is large ( S106 → S107). Thereby, it is possible to determine a state where there is a high possibility that noise other than the lane marker such as the preceding vehicle is detected.
In the first embodiment, it is determined whether or not a state in which the feature of the lane marker detected as the own lane is suddenly dark is recognized. If the state in which the feature is suddenly dark is recognized, it is determined that the inappropriate degree is large. (S108 → S109). Accordingly, it is possible to determine a state where there is a high possibility that noise other than the lane marker such as a road joint is detected.
In the first embodiment, it is determined whether or not the difference between the current lane marker state predicted from the previous state of the lane marker detected as the own lane is within a range indicating that the inappropriate degree is small, and is within the range. It is determined that the inappropriate degree is small (S110 → S111). Thereby, it is possible to easily define whether or not the inappropriate degree is small.

As described above, Example 1 has the following effects.
(1) A CMOS camera (imaging means) 1 that captures the lane in which the vehicle is traveling, a feature extraction unit (feature extraction means) 21 that performs image processing on the output of the CMOS camera 1 and extracts features of the lane marker, A lane detecting unit (lane detecting means) 22 for detecting a lane in which the vehicle travels according to the extraction result, a lane keeping support system (first driving support means), and a lane departure warning system (second driving support means); A lane departure prevention support system (second driving support means), a blind spot intervention (second driving support means), and an inappropriate degree determination unit (inappropriate degree determination means) for determining an inappropriate degree of the lane detection result 23) If it is determined that the degree of inappropriateness is large, a lane keeping support system, a lane departure warning system, a lane departure prevention support system, and a blind spot All the interventions are prohibited, and if it is judged that the degree of inappropriateness is small, only the lane keeping support system is prohibited, the lane departure warning system, the lane departure prevention support system, and the turning control device that permits blind spot intervention. (Support permission prohibition means) 10.
Therefore, it is possible to expand the scenes that can support driving while suppressing the uncomfortable feeling given to the driver.

(2) An inappropriate frequency monitoring unit (inappropriate frequency monitoring means) 24 for monitoring the frequency of inappropriate determination by the inappropriate degree determination unit 23 is provided, and the turning control device 10 is used when the frequency of inappropriate determination is high. Prohibits lane keeping support systems, lane departure warning systems, lane departure prevention support systems and blind spot interventions.
Therefore, the uncomfortable feeling given to the driver can be effectively suppressed.

(3) The inappropriate degree determination unit 23 determines that the inappropriate degree is large individually by a plurality of determination methods, and the inappropriate frequency monitoring unit 24 obtains the inappropriate frequency for each determination method, and determines the overall frequency. When determining the frequency, importance is attached to the frequency of the determination method with high certainty among the determination methods.
Therefore, it can suppress that control interruption time becomes long too much.

(4) The inappropriate degree determination unit 23 determines that the inappropriate degree is large individually by a plurality of determination methods, and the inappropriate frequency monitoring unit 24 calculates the inappropriate frequency for each determination method, and the calculated frequency. The time during which the determination is held is made longer as the determination method has higher certainty.
Therefore, it can suppress that control interruption time becomes long too much.

[Example 2]
Since the second embodiment is different from the first embodiment only in the interruption content output process, the same configuration is given the same name and the same reference numeral, and illustration and description thereof are omitted.
[Suspended content output processing]
FIG. 4 is a flowchart illustrating a flow of interruption content output processing according to the second embodiment. In addition, the same step number is attached | subjected to the step which performs the same process as Example 1 shown in FIG. 3, and description is abbreviate | omitted.
In step S204, if the following expression is satisfied, the process proceeds to step S205. Otherwise, the process proceeds to step S206.
abs (Nearby own lane detection position-previous neighborhood own lane detection position)> THR_L
In this step, it is determined whether or not the difference between the previous state of the lane marker detected as the own lane and the current state of the lane marker is greater than or equal to a predetermined value indicating great inadequacy.

In step S205, an assignment operation represented by the following equation is performed.
mem_frq [0] = 1
Large inappropriate detection flag = 1
Note that mem_frq [n] means a storage area for frequency calculation n times before, and when n = 0, it means the current storage area. The initial values are all zero.
In step S206, an assignment operation represented by the following equation is performed.
mem_frq [0] = 0
Large inappropriate detection flag = 0
In step S207, a large inappropriate frequency is obtained by the following equation.
n_max = func1 (VSP)
Large inappropriate frequency counter = Σ (mem_frq [n]) | n = 0 to n_max
Here, func1 (A) is a function having characteristics as shown in FIG. 5, for example, and VSP is the traveling speed of the host vehicle acquired in step S102, and Σ is from n = 0. This function calculates the sum of values up to n = n_max.
In this step, the parameter for obtaining the frequency as the monitoring result is reduced according to the speed of the host vehicle.

In step S208, if the following expression is satisfied, the process proceeds to step S209. Otherwise, the process proceeds to step S210.
THR_S <abs (Nearby own lane detection position-Previous neighborhood own lane detection position) <THR_L
In step S209, the following processing is performed.
Medium inappropriate timer = 500
In step S210, the next timer process is performed.
Medium inappropriate timer = Medium inappropriate timer − 50
The lower limit value of this timer is the same as that of the first embodiment, and is limited to zero.
In step S211, if the following expression is satisfied, the process proceeds to step S212, and if not, the process proceeds to step S213.
Large inappropriate frequency counter> THR_FQ2
Here, THR_FQ2 is an appropriate positive threshold value for determining that a large inappropriate frequency is high.
In step S213, if both of the following expressions are satisfied, the process proceeds to step S119, and if not, the process proceeds to step S214.
Large inappropriate detection flag> 0
In step S216, the previous value is updated by substituting the “current value” for the “previous value” used in step S204 or step S208, and the calculation of mem_frq [n] = mem_frq [n-1] is performed. It repeats from the past to the present from n = 200 to n = 1, updates the previous value, and ends.

Next, the operation will be described.
In the second embodiment, the parameter for obtaining the frequency as the monitoring result is decreased according to the speed of the host vehicle (S207). The lane marker is painted on the road surface, and since the frequency at the same distance interval can be obtained, it is possible to perform structured monitoring regardless of the vehicle speed.
In the second embodiment, it is determined whether or not the difference between the previous state of the lane marker detected as the own lane and the predicted current lane marker state is greater than or equal to a predetermined value that represents a large inappropriateness. It is determined that the appropriate degree is large (S204 → S205). Thereby, it is possible to easily define whether or not the inappropriate degree is large.

As described above, the second embodiment has the following effects in addition to the effects of the first embodiment.
(5) The inappropriate frequency monitoring unit 24 reduces the parameter when obtaining the frequency as the monitoring result according to the speed of the host vehicle.
Therefore, the frequency at the same distance interval can be obtained, and configuration monitoring can be performed regardless of the vehicle speed.

(Other examples)
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to an Example, The design change of the range which does not deviate from the summary of invention And the like are included in the present invention.
In the embodiment, an example is shown in which the driving assistance of the driver is performed by warning and steering control. However, the driving assistance may be configured by brake control or steering reaction force control. In this case, the same effect as the embodiment can be obtained.

1 Camera
2 Image processing device
3 Vehicle speed detection device
4 Rear wheel
5 Yaw rate detector
6 Steering angle detector
7 Steering wheel
8 Steering actuator
9 Front wheel
10 Steering control device
21 Feature extraction unit
22 Lane detector
23 Inappropriate degree judgment part
24 Inappropriate frequency monitoring section
25 Interrupt output section

Claims (5)

Imaging means for photographing the lane in which the host vehicle is traveling;
Feature extraction means for image processing the output of the imaging means to extract lane marker features;
Lane detection means for detecting a lane in which the host vehicle travels according to the extraction result of the lane marker;
A first driving support means for continuously driving the driver to maintain a desired state based on the lane detection result;
Second driving support means for driving support of the driver in a single manner to avoid a predetermined state based on the lane detection result;
An inappropriate degree determination means for determining an inappropriate degree of the lane detection result;
When it is determined that the inappropriate degree is large, both the first driving support means and the second driving support means are prohibited, and when it is determined that the inappropriate degree is small, only the first driving support means is determined. Support permission prohibiting means that prohibits the second driving support means and
A vehicle lane recognition apparatus comprising: The vehicle lane recognition device according to claim 1,
Including inappropriate frequency monitoring means for monitoring the frequency of inappropriate determination by the inappropriate degree determination means,
The vehicle lane recognition device, wherein the support permission prohibiting unit prohibits both the first driving support unit and the second driving support unit when the frequency of inappropriate determination is high. The vehicle lane recognition device according to claim 2,
The inadequate frequency monitoring means reduces the number of parameters when the frequency is obtained as a monitoring result in accordance with the speed of the host vehicle. In the vehicle lane recognition device according to claim 2 or 3,
The inappropriate degree determination means determines that the inappropriate degree is large individually by a plurality of determination methods,
The inappropriate frequency monitoring means obtains an inappropriate frequency for each determination method, and when determining the overall frequency, attach importance to the frequency of a determination method with high certainty among the determination methods. Vehicle lane recognition device. In the vehicle lane recognition device according to claim 2 or 3,
The inappropriate degree determination means determines that the inappropriate degree is large individually by a plurality of determination methods,
The inappropriate frequency monitoring means obtains an inappropriate frequency for each determination method, and sets the time for which the determined frequency is held to be longer as the determination method is more reliable. Recognition device.

Images