JP2015191445A - Driving assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assistance device capable of appropriately providing steering assistance based on a lane compartment line even on a branch road.SOLUTION: A driving assistance device 11 detects lane compartment lines partitioning a lane in front of a vehicle 10, and assists the steering of the vehicle 10 on the basis of the lane compartment line selected as a vehicle follow-up target compartment line from the detected lane compartment lines. The driving assistance device 11 comprises: a guide device 23 identifying one of a plurality of paths as a path in a travel direction of the vehicle 10; a compartment-line recognition device 22 detecting the lane compartment lines present on the right and left of the vehicle 10 in the travel direction of the vehicle 10, respectively; and a follow-up target selection unit 20 calculating curvatures of the detected right and left lane compartment lines, and selecting the lane compartment line having the curvature smaller in a difference with a curvature of the path identified as the path in the travel direction as the lane compartment line of the lane on which the vehicle 10 travels out of the calculated curvatures of the right and left lane compartment lines on the basis of determination that a difference between the calculated curvatures of the respective lane compartment lines is greater than a threshold for branch road determination.

Description

  The present invention relates to a driving support device that supports driving of a vehicle.

  Conventionally, as a driving support device that supports driving of a vehicle, the vehicle follows the lane marking that divides the driving lane by automatically adjusting the steering amount of the host vehicle or assisting the driver's steering force. There are known devices that assist steering so that a vehicle travels. Such a driving assistance device is equipped with a device for recognizing a lane marking that causes the vehicle to follow, and an example of such a device is described in Patent Document 1.

  The device described in Patent Document 1 recognizes a lane marking on the road surface from a captured image in the traveling direction of the host vehicle, and divides a branch road that is a lane that diverges from the main line or that lane line divides from the main line. Identify what it is. Specifically, when this device determines that there is a branch road based on the lane marking, the lane marking recognized in the direction of travel has a high continuity with the lane marking that divides the lane that has already traveled. Identify the lane marking to divide.

JP 2007-164636 A

  In recent years, high-level driving assistance has been desired for vehicles, and this is the same for steering assistance on roads having branches. However, with reference to FIG. 6, the apparatus described in Patent Document 1 can detect the main lane line L2 based on the lane line L1 of the lane in which the vehicle 10 is traveling, The lane marking L3 of the branch road that branches from the lane marking L2 is not detected. For this reason, even when the driving direction of the vehicle 10 is the direction of the branch road, the driving support apparatus including the same device cannot support the steering of the vehicle 10 in a manner corresponding to the branch road that is the driving direction. There is a fear.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a driving assistance device capable of appropriately performing steering assistance based on a lane marking even on a branch road.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
In order to achieve the above object, the driving support device detects a lane marking that is a line that divides the lane ahead of the vehicle, and changes the detected lane marking to a lane marking selected as a tracking target of the vehicle. A driving support device that assists in steering a vehicle based on a route specifying unit that specifies one of the traveling directions of the vehicle from a plurality of routes, and lane markings that respectively exist on the left and right of the traveling direction of the vehicle. The lane marking detection unit to detect and the curvatures of the detected left and right lane markings are calculated, respectively, and it is determined that the difference between the calculated curvatures of the respective lane markings is larger than a threshold for judging the branch road Of the calculated left and right lane markings, the lane of the lane in which the vehicle travels along a lane marking having a small difference from the curvature of the course specified as the traveling direction. As a lane marking And summarized in that and a selection unit for selecting.

  According to such a configuration, when the difference between the left and right curvatures of the lane line is large, the lane line corresponding to the course is selected for the vehicle by selecting the lane line that is close to the curvature of the course specified as the traveling direction. Steering support is executed based on the lane markings. In other words, the lane line to be tracked is appropriately selected on a branch road where the distance between the lane markings on the left and right sides of the vehicle is far away and the lane line to be tracked may not be properly determined. It becomes like this. Thereby, steering assistance can be performed based on the lane marking in the traveling direction of the vehicle appropriately selected on the branch road.

The schematic diagram which shows the schematic structure about one Embodiment of the vehicle carrying a driving assistance device. The flowchart which shows the procedure about the process which recognizes a lane marking in this embodiment. The schematic diagram which shows the aspect which recognizes a lane marking other than a branch road in this embodiment. The schematic diagram which shows the lane marking selected when making a branch road into the advancing direction in this embodiment. The schematic diagram which shows the lane marking selected when the main line is made into the advancing direction in this embodiment. Explanatory drawing explaining the lane marking line specified as a main line by the branch road in the conventional driving assistance device.

With reference to FIGS. 1-5, one Embodiment which actualized the driving assistance device is described.
First, an outline of the driving support device will be described. The vehicle 10 is an automobile such as a passenger car or a bus or a truck that is operated by a driver.

  The vehicle 10 includes a driving assistance device 11 that provides steering assistance to the vehicle 10. The driving assistance device 11 recognizes the lane in which the vehicle 10 travels based on the left and right lane markings, and supports the steering of the vehicle 10 so that the vehicle 10 does not deviate from the recognized lane markings of the driving lane, A so-called LKA (lane keeping assist) is provided. In the present embodiment, when the driving assistance device 11 causes a difference in the curvature of the lane markings due to an increase in the distance between the left and right lane markings of the recognized vehicle 10, the guide device 23 is routed. A lane line having a curvature close to the curvature of the road in the direction of guidance is selected as a tracking target, and steering assistance of the vehicle 10 is executed based on the selected lane line.

The details of the driving support device 11 will be described with reference to FIG.
The driving support device 11 selects the lane line to be tracked and outputs the information about the selected lane line and the information about the lane line input from the tracking target selection unit 20. And a vehicle control unit 30 for assisting steering of the vehicle. The driving support device 11 also includes a GPS (global positioning system) device 21 for specifying the current position of the vehicle 10 and a lane line recognition device 22 as a lane line detection unit that recognizes a white line that is a lane line. And a guide device 23 as a course specifying unit that performs travel route guidance.

  The GPS device 21 receives a signal from a GPS satellite and detects the current location of the vehicle 10 based on the received signal from the GPS satellite. The GPS device 21 includes a microcomputer including a CPU (arithmetic unit), ROM, RAM, and other storage devices, and can perform a process of calculating the current location based on signals from GPS satellites. it can. That is, the GPS device 21 detects position information indicating the current location by processing a signal from the received GPS satellite, and outputs the detected position information to the tracking target selection unit 20 and the guidance device 23.

  The lane line recognition device 22 detects a lane line that divides the lane in which the vehicle 10 is traveling, and outputs information on the detected lane line to the tracking target selection unit 20. Lane lane markings include lane centerlines, lane boundary lines, lane markings such as lane outside lines, etc., and line modes include continuous lines, dashed lines, dotted lines, etc. May be white or yellow.

  The lane marking recognition device 22 includes a microcomputer including a CPU (arithmetic unit), ROM, RAM, and other storage devices. The storage device stores an image recognition program for recognizing the lane line by image processing and acquiring information on the lane line, and from the captured image by executing the image recognition program. A lane line is detected. That is, the lane marking recognition device 22 includes an image processing unit based on the execution of an image recognition program.

  The lane marking recognition device 22 includes an imaging unit that captures at least an image in the visible light region. The imaging unit is a CCD camera or the like, for example, and is installed at a position where a predetermined range in front of the vehicle 10 can be imaged, for example, behind the rearview mirror in the vehicle. Then, the imaging unit outputs the captured image to the image processing unit.

  The image processing unit extracts a lane marking drawn on the road surface by performing image processing on a captured image in front of the vehicle input from the imaging unit, and detects a relative position of the extracted lane marking with respect to the vehicle 10 To do. For example, the image processing unit detects a portion where the luminance change is large on the road surface, and detects a lane line based on determination of continuity of the detected portion. The image processing unit detects lane markings separately for the left and right sides of the vehicle 10, and detects information on the lane markings separately for the detected left and right lane markings. The lane line information includes the lane line curvature, the distance between the lane line and the vehicle (lateral deviation), and the angle at which the lane line extends and the vehicle travels in a relative direction. (Yaw angle). The distance (lateral deviation) from the vehicle 10 may be a distance from the vehicle side surface or a distance from the center of the vehicle width. The image processing unit may detect the line type, length, and thickness separately for the recognized left and right lane markings, and may also detect the distance between the recognized left and right lane markings.

  The guidance device 23 is a so-called navigation device that guides the route from the departure point to the destination, and obtains the current position information of the vehicle 10 from the GPS device 21 so that the travel route to the set destination is obtained. To decide. In addition, the guide device 23 outputs road information and the like of the determined travel route to a display device provided in the passenger compartment, or outputs it to the follow target selection unit 20.

The guide device 23 includes a non-volatile storage device. The guide device 23 holds a map information DB (database) 24 including map information in a storage device.
The map information DB 24 is a database that holds map data. The map data includes map information related to geography such as roads. In the map information, information on a position such as latitude and longitude is registered together with data that can display a map. The map data includes the positions of specific traffic elements such as intersections, curves, and branch roads. Map data includes road information including information such as road type, number of lanes, lane width, curvature of curves and branch roads, intersection information including information on intersections, intersections and junctions including information on branch roads, and service areas. And various information such as parking areas.

  The guide device 23 can search and determine a travel route from the current location to the destination through reference to the map information DB 24. Further, the guidance device 23 is configured so that the tracking target selection unit 20 can read out the map data held in the map information DB 24 as necessary.

  The vehicle control unit 30 performs steering assistance corresponding to steering in the traveling direction of the vehicle. In the present embodiment, the vehicle control unit 30 performs steering support in a mode that assists the steering force applied to steering in the traveling direction of the vehicle, specifically, in a mode that provides assist torque in the steering direction of the steering. The vehicle control unit 30 acquires “curvature”, “lateral deviation”, and “yaw angle” information corresponding to the traveling direction of the vehicle as information necessary for steering support from the tracking target selection unit 20. And the vehicle control part 30 performs steering assistance based on those acquired information. Note that the steering assistance may be executed for a part or all of the steering range.

  The vehicle control unit 30 includes a microcomputer including a CPU (arithmetic unit), ROM, RAM, and other storage devices. A program related to steering support is stored in the storage device, and the vehicle control unit 30 exhibits a function related to steering support when the CPU performs arithmetic processing on the program. That is, the vehicle control unit 30 determines the steering amount required for the vehicle to travel in the traveling direction based on the obtained “curvature”, “lateral deviation”, and “yaw angle” corresponding to the traveling direction of the vehicle, And while calculating the assistance amount corresponding to the steering amount, steering assistance is performed based on the calculated assistance amount. For example, the vehicle control unit 30 calculates the steering amount required to follow the lane line based on the “curvature”, and the steering amount required to move to the center of the lane defined by the lane line based on the “lateral deviation”. Calculate the steering amount required to match the vehicle direction and the lane direction based on the “yaw angle”. Then, the vehicle control unit 30 calculates a support amount required for steering support based on the calculated steering amounts. The assistance amount required for steering assistance may be calculated for each steering amount calculated separately for “curvature”, “lateral deviation”, and “yaw angle”, or the total steering amount obtained by adding the calculated steering amounts. One may be calculated for the quantity. And the vehicle control part 30 performs steering assistance based on the calculated assistance amount.

  The tracking target selection unit 20 acquires position information from the GPS device 21, lane line information from the lane line recognition device 22, and road information from the guide device 23, and is necessary for tracking support based on the acquired information. Information is calculated and output to the vehicle control unit 30.

  The follow target selection unit 20 includes a microcomputer including a CPU (arithmetic unit), ROM, RAM, and other storage devices. The storage device stores a lane selection program for selecting a lane line to be followed by the vehicle 10, and the lane line to be tracked is selected by executing the lane selection program. Is done. In the storage device, a threshold value used for determination of a branch road, which is a determination as to whether or not the road on which the lane marking is displayed, is a branch road. On a branch road, the difference in curvature between the left and right lane lanes increases because the left and right lane lines are separated from each other. The difference in curvature of the lane markings is small. Therefore, if the difference in curvature between the left and right lane markings is larger than the threshold value used for judging the branch road, it can be judged that the road is a branch road.

  That is, the tracking target selection unit 20 selects the left and right lane markings of the vehicle 10 from the lane markings input from the lane marking recognition device 22 as lane markings to be tracked, and the left and right lane markings of the selected left and right lane markings. The “curvature”, “lateral deviation” and “yaw angle” are acquired from the information. Then, the tracking target selection unit 20 determines “curvature”, “lateral deviation”, and “yaw angle” necessary for the vehicle 10 to follow the lane line so as not to deviate from the lane, and the determined “curvature”. , “Lateral deviation” and “yaw angle” are output to the vehicle control unit 30. Further, in the present embodiment, the tracking target selection unit 20 detects the “curvature” and the “lateral deviation” based on one of the left and right lane markings corresponding to the traveling direction when the branch road is detected. And “Yaw Angle”.

  A tracking target selection process executed by the tracking target selection unit 20 will be described with reference to FIG. The tracking target selection process is repeatedly executed at predetermined intervals when the driver is set so that the operation support is valid.

  When the tracking target selection process is started, the driving support device 11 selects lane markings that exist on the left and right sides of the vehicle 10 (step S10). For example, a lane line that exists on the left side of the center in the imaging direction is selected as the left lane line, and a lane line that exists on the right side of the center in the imaging direction is selected as the right lane line. When a plurality of lane markings are extracted on the left side and the right side of the center in the imaging direction, the vehicle 10 is sandwiched between the vehicles 10 by a process of selecting the closest one to the vehicle 10 among them. Lane lane markings present on the left and right are selected.

  Further, the driving support device 11 compares the difference between the curvatures of the selected left and right lane markings and the threshold value used for the branch path determination, and uses the difference between the curvatures of the selected left and right lane markings for the branch path determination. It is determined whether or not it is larger than the threshold (step S11). Note that the difference in curvature between the left and right lane markings is calculated as a positive value by absolute value processing or the like, and the threshold value used for branch path determination is also set as a positive value.

  When it is determined that the difference in curvature between the selected left and right lane markings is larger than the threshold used for branching road determination (YES in step S11), the driving support device 11 acquires map information (step S12). . More specifically, the driving support device 11 acquires map information corresponding to the position information from the map information DB 24 based on the position information acquired from the GPS device 21. Moreover, the driving assistance apparatus 11 acquires the curvature of a road from the road information corresponding to the advancing direction of the vehicle 10 among the acquired map information (step S13). Furthermore, the driving assistance device 11 compares the curvature of the left and right lane markings with the curvature of the road in the traveling direction, and selects the lane marking corresponding to the traveling direction (step S14). Specifically, the driving assistance device 11 calculates the difference between the curvature of the left lane line and the curvature of the road in the traveling direction, and the difference between the curvature of the right lane line and the curvature of the road in the traveling direction. The lane marking corresponding to the curvature having the smaller calculated difference is selected as the lane marking corresponding to the traveling direction. Then, based on the “curvature”, “lateral deviation”, and “yaw angle” corresponding to the selected lane marking, “curvature”, “lateral deviation”, “yaw angle” required for steering assistance of the vehicle 10 Is determined (step S15). For example, the determined “curvature” required for steering assistance of the vehicle 10 may be corrected and set so as to correspond to the traveling locus passing through the center of the vehicle 10, or the selected lane line The one corresponding to may be set as it is.

  On the other hand, when it is determined that the difference between the curvatures of the selected left and right lane markings is equal to or less than the threshold value used for the branch road determination (NO in step S11), the driving support device 11 determines the curvature of each of the left and right lane markings. Are averaged (step S16). Then, averaged “curvature”, “lateral deviation”, and “yaw angle” are set as information necessary for assisting steering of the vehicle 10. By averaging the curvatures of the left and right lane lanes in the direction of travel, if there is a difference in curvature between the outer and inner lanes, such as a curved lane lane, it is sandwiched between the left and right lane lanes. It is possible to acquire the “curvature” of the travel locus passing through the center of the travel lane composed of the region. Similarly, the “lateral deviation” and “yaw angle” of the travel locus passing through the center of the travel lane can also be acquired. Thereby, the information for steering assistance required for steering assistance is appropriately calculated with less calculation. Note that any one of the left and right lane markings may be selected, and the “curvature” of the selected lane marking may be set as information necessary for steering assistance of the vehicle 10.

  When information necessary for steering support is set in the process of step S15, the process of step S16, and the like, the driving support device 11 sets the set “curvature”, “lateral deviation”, and “yaw angle” for the steering support. Is used for steering assistance in driving assistance (step S17). That is, the “curvature”, “lateral deviation”, and “yaw angle” for steering assistance are input to the vehicle control unit 30. Subsequently, the driving support device 11 calculates a support amount required for steering support based on the “curvature”, “lateral deviation”, and “yaw angle” input to the vehicle control unit 30, and based on the calculated support amount. To assist the steering force.

As a result, steering assistance based on lane markings is appropriately performed even on branch roads.
Next, with reference to FIGS. 3-5, the effect | action of the driving assistance apparatus 11 of this embodiment is demonstrated.

  As shown in FIG. 3, in the section A1 where there is no branch on the road, there is a large difference between the “curvature ρL” of the left white line LL and the “curvature ρR” of the right white line LR that exceeds the threshold for judging the branch road. Therefore, the average values of “curvature”, “lateral deviation”, and “yaw angle” correspond to “curvature”, “lateral deviation”, and “yaw angle” of the travel locus line T1 along the center of the width of the vehicle 10. Used for steering assistance. That is, (curvature ρL of left white line LL + curvature ρR of right white line LR) / 2 is calculated as “curvature”, (lateral deviation dL + lateral deviation dR) / 2 is calculated as “lateral deviation”, and (yaw angle θL + yaw The angle θR) / 2 is calculated as the “yaw angle”. Note that in the road branch section A2, as in the section A1 where there is no branch, when the average values of “curvature”, “lateral deviation”, and “yaw angle” are used for steering support, the course of the vehicle 10 is a branch road segment. May be calculated along the traveling locus line T21 toward the vehicle. Therefore, in the present embodiment, a lane line corresponding to the traveling direction of the vehicle 10 is selected for steering assistance in the road branch section A2. Note that the end of the road branch section A2 is again the section A3 where there is no branch on the road.

Therefore, the operation of the driving support device 11 of the present embodiment in the branch section A2 will be described.
First, the case where the course of the vehicle 10 is the traveling direction along the branch road R1 that branches leftward will be described.

  As shown in FIG. 4, when the vehicle 10 passes the branch section start position P1 and reaches the road branch section A2, it is between the “curvature ρL” of the left white line LL and the “curvature ρR” of the right white line LR. A large difference that exceeds the threshold for judging the branch path is generated. That is, if it is determined that this difference is greater than the threshold for determining the branch path, the “curvature” of the branch path R1 in the traveling direction D1 being route-guided by the guide device 23 and the “curvature ρL” of the left white line LL. ”And“ curvature ρR ”of the right white line LR, and the left white line LL having“ curvature ρL ”close to“ curvature ”of the branch path R1 in the traveling direction D1 is selected as the lane marking in the traveling direction. Then, the “curvature”, “lateral deviation” of the travel trajectory line T2 along the width center of the vehicle 10 calculated based on the “curvature ρL”, “lateral deviation dL”, and “yaw angle θL” of the left white line LL, and “Yaw angle” is used for steering assistance. As a result, the vehicle 10 is provided with appropriate steering support based on the left white line LL, which is a lane marking that is appropriately selected as going in the traveling direction D1.

Next, the case where the course of the vehicle 10 is the traveling direction D2 along the main line R2 that travels straight will be described.
As shown in FIG. 5, when the vehicle 10 reaches the road branching section A2, the threshold for judging the branch road is set between the “curvature ρL” of the left white line LL and the “curvature ρR” of the right white line LR. A big difference will be made. That is, if it is determined that this difference is greater than the threshold for determining the branch path, the “curvature” of the main line R2 in the traveling direction D2 being route-guided by the guide device 23 and the “curvature ρL” of the left white line LL. And the right white line LR is compared with the “curvature ρR”, and the right white line LR having the “curvature ρR” close to the “curvature” of the main line R2 in the traveling direction D2 is selected as the lane marking in the traveling direction. Then, the “curvature”, “lateral deviation” of the travel locus line T3 along the center of the width of the vehicle 10 calculated based on the “curvature ρR”, “lateral deviation dR”, and “yaw angle θR” of the right white line LR, and “Yaw angle” is used for steering assistance. As a result, the vehicle 10 is provided with appropriate steering assistance based on the right white line LR, which is a lane marking that is appropriately selected as going in the traveling direction D2.

As described above, according to the driving support apparatus according to the present embodiment, the effects listed below can be obtained.
(1) When the difference between the left and right curvatures of the lane line is large, by selecting a lane line that is close to the curvature of the traveling direction and the specified course as the tracking target, the vehicle 10 has a lane section corresponding to the course. Steering assistance is executed based on the line. That is, the lane line to be tracked is appropriately selected on a branch road where the distance between the lane markings on both the left and right sides of the vehicle 10 is increased and the lane line to be tracked may not be properly determined. Become so. Thereby, steering assistance can be performed based on the lane marking in the traveling direction of the vehicle 10 appropriately selected on the branch road.

(Other embodiments)
In addition, the said embodiment can also be implemented with the following aspects.
-In above-mentioned embodiment, the case where the following object selection part 20, the GPS apparatus 21, the lane marking recognition apparatus 22, the guidance apparatus 23, and the vehicle control part 30 were provided in the driving assistance apparatus 11 was illustrated. However, the present invention is not limited to this, and if the processing as the driving support device is possible, the tracking target selection unit, the GPS device, the lane marking recognition device, the guidance device, and the vehicle control unit are partially or entirely integrated. Conversely, a part or all of the tracking target selection unit, the GPS device, the lane marking recognition device, the guidance device, and the vehicle control unit may be more finely divided. Thereby, the improvement of the design freedom of a driving assistance device comes to be aimed at.

  -In above-mentioned embodiment, the case where the driving assistance device 11 was mounted in the vehicle 10 was illustrated. However, the present invention is not limited to this, and as long as processing as a driving support device is possible, a part of the functions and processing may be provided in a processing device outside the vehicle. In this case, information may be exchanged between the vehicle and the processing device outside the vehicle. Thereby, the application range of a driving assistance device can be expanded.

  In the above embodiment, the case where the driving support device 11 is an in-vehicle device is illustrated. However, the present invention is not limited to this, and the driving support device may be a mobile information processing device such as a mobile phone, a smartphone, or a tablet. Even if such a portable information processing device can be brought into the vehicle and images of the front of the vehicle can be taken, and the current position acquisition and route guidance functions are provided, steering assistance based on lane markings can be properly provided even on branch roads. To be able to do.

In the above embodiment, the case where the branch path branches to the left is illustrated, but the present invention is not limited thereto, and the branch path may branch to the right.
Moreover, although the case where the curvature of a branch road is larger than the curvature of a main line was illustrated, it is not restricted to this, The curvature of a main line may be the same as that or more than the curvature of a branch road.

  Furthermore, although the case where the branch destination road is classified into the main line and the branch road has been illustrated, any combination of the types of the branch destination road may be used as long as the road is branched. For example, even if the types of roads at the branch destination are all main lines, they may be all branch roads.

Thereby, the application range of a driving assistance device can be expanded.
-In the above-mentioned embodiment, it illustrated about the case where a branch way branches into two. However, the present invention is not limited to this, and as long as the lane marking can be detected, the branch path may be branched into two or more. For example, if the lane marking corresponding to each branch road, including the dotted line of the branch section, is recognized, the curvature of each recognized lane marking is compared with the curvature of the road in the traveling direction. Corresponding lane markings can be selected. Thereby, the application range of a driving assistance device can be expanded.

  In the above embodiment, the case where there is no display on the road surface such as a dotted line between the main line and the branch road is illustrated. However, the present invention is not limited to this, and a display on the road surface such as a dotted line may be provided between the main line and the branch road as long as the main road lane line and the branch lane line can be detected appropriately. Thereby, the application range of a driving assistance device can be expanded.

  In the above embodiment, the case where the difference between the curvatures of the left and right lane markings is calculated as a positive value is exemplified. However, the present invention is not limited to this, and the difference in curvature between the left and right lane markings may be calculated so as to include positive and negative values. For example, at this time, a positive value and a negative value may be set as the threshold value used for the branch path determination to be compared. That is, when the difference in curvature between the left and right lane markings is not between the positive and negative thresholds, it can be determined that the road is a branch road. Thereby, the improvement of the design freedom as a driving assistance device comes to be aimed at.

  In the above embodiment, the case where the steering assist is an aspect of assisting the steering force when the driver steers is illustrated. However, the present invention is not limited to this, and the steering assistance may be in other forms, for example, an assistance aspect in which steering is automatically executed based on the traveling direction of the vehicle. As long as steering can be automatically executed in this way, the present invention can also be applied to a vehicle that is automatically and temporarily operated automatically. Thereby, the application range of a driving assistance device can be expanded.

  -In above-mentioned embodiment, it illustrated about the case where the vehicle 10 is a motor vehicle. However, the present invention is not limited to this, and the present invention may be applied to a moving body such as a bicycle, an automatic guided vehicle, or a robot that performs a steering operation and identifies a moving route from a lane marking. Thereby, the application range of a driving assistance device can be expanded.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 11 ... Driving assistance apparatus, 20 ... Tracking object selection part, 21 ... GPS apparatus, 22 ... Track line recognition apparatus, 23 ... Guide apparatus, 24 ... Map information DB, 30 ... Vehicle control part.

Claims (1)

A driving support device that detects a lane marking that is a line that divides a lane ahead of the vehicle and supports steering of the vehicle based on a lane marking selected as a tracking target of the vehicle from the detected lane marking. There,
A course identifying unit that identifies one of the traveling directions of the vehicle from a plurality of courses;
A lane marking detector that detects lane markings present on the left and right of the traveling direction of the vehicle,
The curvatures of the detected left and right lane markings are calculated, respectively, and the calculated left is calculated based on the determination that the difference between the calculated curvatures of the respective lane markings is larger than a threshold for branching road determination. And a selection unit that selects a lane line having a curvature that has a small difference from the curvature of the path specified as the traveling direction among the curvatures of the right lane line as the lane line of the lane in which the vehicle travels. A driving support apparatus comprising:

Images