JP2016085712A - Travel support device, travel support program, and travel support method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel support device that appropriately controls a timing for switching imaging data in which the front side and rear side of a vehicle is photographed.SOLUTION: An on-vehicle device 10 includes an input part 100, processing unit 110, navigation part 120, in-vehicle bus I/F 140, and display part 150. The processing unit 110 includes a selection part that receives input of imaging data D1 from a front camera installed on the front side of a vehicle and imaging data D2 from a rear camera installed on the rear side of the vehicle and selects either one of the pieces of imaging data on the basis of a selection signal from the control part 180. The control part 180 determines which image data to select on the basis of the number lanes on the road on which the vehicle is traveling.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support apparatus using image data captured by an imaging camera, and more particularly to driving support having functions for determining whether or not there is a lane departure and whether or not there is an obstacle behind the vehicle.

  2. Description of the Related Art A driving support system is used in which an imaging camera is mounted on a vehicle and an obstacle and road environment around the vehicle are monitored using the captured image. In such a system, for example, a forward collision warning (FCW) using a front camera that images the front of the vehicle, a signal detection function, and a rear camera that images the rear of the vehicle are used. There are warnings for cars, bicycles, pedestrians, etc. (CTA: cross traffic alert), rear side (blind spot information) warnings (BSW: Blind Spot Information Warning), and the like. In addition, there is a lane departure warning (LDW) that can be realized by imaging data of either the front camera or the rear camera.

  Various image processing can be performed based on the imaging data, but on the other hand, the image processing apparatus is burdened heavily. In Patent Document 1, imaging data is processed at high speed at intersections such as main roads where traffic of vehicles is high, and image processing speed is reduced at intersections where road width is narrow and traffic of vehicles is low. A technique for distributing capabilities to other processes is disclosed. Patent Document 2 compares the distance to the traffic light obtained from the imaging data for imaging the front and the distance to the traffic light obtained from the navigation device to determine the presence or absence of the traffic signal, and based on the determination result, the side camera is turned on. Disclosed is a technique for switching between / off and display / non-display of the image.

JP 2006-185045 A JP 2008-132894 A

  As described above, when running support is performed using imaging data from the front camera and rear camera, image processing of imaging data is required. FIG. 1 shows a configuration example of a conventional processing unit that performs image processing on imaging data from a rear camera and a front camera. A processing unit 1A shown in FIG. 1A has two image inputs, a video decoder 2A that inputs imaging data by the rear camera RC, and a video decoder 2B that inputs imaging data captured by the front camera FC. An image recognition unit 3A that processes or recognizes image data decoded by the two video decoders 2A and 2B, a video encoder 4 that encodes the image data that has undergone image processing, a video amplifier 5, and the like are provided. In this case, since the image recognition unit 3A processes image data from the rear camera RC and the front camera FC, it is necessary to use a system LSI or DSP (Digital Signal Processor) having a high processing capability.

  On the other hand, FIG. 1B shows a processing unit having one system of image input. The processing unit 1B inputs imaging data from the rear camera RC and imaging data from the front camera FC, outputs either one of them, and a video decoder that inputs the imaging data output from the selection unit 6 2, an image recognition unit 3B that processes the image data decoded by the video decoder 2, a video encoder 4 that encodes the image processed image data, a video amplifier 5, and the like. Since the processing unit 1B has only one input system, the selection unit 6 for selecting imaging data is necessary. However, the image recognition unit 3B does not require processing ability like the image recognition unit 3A. An inexpensive system LSI or DSP can be used.

  However, it is necessary to switch the imaging data from the rear camera RC or the imaging data from the front camera FC by the selection unit 6, the switching timing must be controlled appropriately, and switching is inappropriate. Unnecessary execution of image processing increases the processing load on the system LSI and the like, and the remaining resources cannot be appropriately allocated to other processing. Furthermore, the imaging data must be provided appropriately so as to provide driving support for the driver.

  The present invention solves such a conventional problem, and a driving support device, a driving support program, and a driving support that can appropriately control the timing of switching of imaging data obtained by imaging the front and rear of the host vehicle. It aims to provide a method.

  The driving support device according to the present invention includes selection means for selecting first imaging data that images the front of the host vehicle or second imaging data that images the rear of the host vehicle, and driving status information related to the driving status of the host vehicle. Acquisition means for acquiring the vehicle, determination means for determining the safety of traveling based on the first imaging data or the second imaging data selected by the selection means, and selection of the selection means based on the traveling situation information. Selection control means for controlling.

  Preferably, the travel status information includes the number of lanes of the road on which the host vehicle is traveling, and the selection control means selects the first imaging data when the number of lanes is one lane, and the number of lanes when the number of lanes is two or more. 2 image data is selected. Preferably, the travel status information includes a road attribute on which the host vehicle is traveling, and the selection control means determines that the first section is equal to or more than a certain distance even if the number of lanes is one lane. 2 image data is selected. Preferably, the traveling status information includes a road attribute on which the host vehicle is traveling, and the selection control means is a section in which the road is not overtaken by causing the second imaging data to be selected when the road is an overtaking section. At this time, the first imaging data is selected. Preferably, the section without overtaking is a curve section having a curvature of a certain value or more. Preferably, the section without overtaking is a section of one lane whose width is a certain value or less. Preferably, the driving support device further includes warning output means for outputting a warning based on the determination result of the determination means. Preferably, the driving support apparatus further includes display means for displaying the first imaging data or the second imaging data selected by the selection means. Preferably, the determination unit includes an analysis unit that analyzes the first or second imaging data selected by the selection unit, a lane departure determination unit that determines presence or absence of a lane departure based on an analysis result of the analysis unit, Obstacle determination means for determining the presence or absence of an obstacle behind the host vehicle based on the analysis result. Preferably, when the first imaging data is selected by the selection unit, the lane departure determination unit is executed, and when the second imaging data is selected by the selection unit, the lane departure determination unit and the lane departure determination unit Obstacle determining means is executed. Preferably, the lane departure determining means determines the lane departure based on white line information detected from the imaging data. Preferably, the selection control unit determines that there is no lane departure by the lane departure determination unit and the obstacle determination unit determines that there is no obstacle while the second imaging data is selected. The selection is switched to the first imaging data. Preferably, the selection control unit switches the selection to the second imaging data when the lane departure determining unit determines that there is a lane departure. Preferably, the traveling state information includes turn signal information of the own vehicle, and the selection control means switches the selection to the second imaging data when the turn signal is issued. Preferably, the traveling state information includes speed information of the own vehicle, and the selection control unit causes the second imaging data to be selected regardless of the number of lanes when the speed of the own vehicle is less than a certain speed. Preferably, the traveling state information includes speed information of the own vehicle, and the selection control means causes the first imaging data to be selected regardless of the number of lanes when the speed of the own vehicle is less than a certain speed. Preferably, the driving support apparatus further includes an input unit that receives an input from a user, and a setting unit that sets an operation mode of the selection unit based on the input unit. One imaging data or second imaging data is selected.

  The driving support program of the present invention selects first imaging data for imaging the front of the host vehicle or second imaging data for imaging the rear of the host vehicle, and the selected first imaging data or second imaging. When the road on which the vehicle is traveling is one lane, the first imaging data is selected, and the second imaging is performed when there are two or more lanes. Let the data be selected.

  In the driving support method of the present invention, the first imaging data for imaging the front of the host vehicle or the second imaging data for imaging the rear of the host vehicle is selected, and the selected first imaging data or second imaging is selected. In a driving support apparatus having means for displaying data, the first imaging data is selected when the road on which the vehicle is traveling is one lane, and the second imaging data is selected when the road is two or more lanes. Let them choose.

  According to the present invention, since the first imaging data or the second imaging data is selected based on the traveling state information of the own vehicle, the imaging data at a more appropriate timing is displayed and driving support is performed. Can do. Further, by selecting one of the first imaging data and the second imaging data, it is possible to reduce the load on the processing device that processes the imaging data, and to use a cheaper processing device.

It is a figure which shows the structural example of the conventional processing unit which processes the imaging data imaged with the rear camera and the front camera. It is a block diagram which shows the structural example of the vehicle-mounted apparatus of 1st Example which concerns on this invention. It is a figure explaining the imaging camera mounted in the vehicle. It is a figure explaining the structure of the processing unit shown in FIG. It is a figure which shows the functional structure of the selection control program which concerns on 1st Example of this invention. It is a flowchart explaining the driving | running | working assistance operation | movement which concerns on 1st Example of this invention. FIG. 7A shows a state where the rear camera is selected when the vehicle is traveling on a two-lane road, and FIG. 7B is a diagram showing that the vehicle is traveling on a one-lane road. Sometimes the front camera is selected. It is a flowchart explaining the driving | operation assistance operation | movement which concerns on 3rd Example of this invention. It is a flowchart explaining the driving | operation assistance operation | movement which concerns on the 4th Example of this invention.

  In a preferred embodiment, the driving support device of the present invention is realized by an electronic device (hereinafter referred to as an in-vehicle device) or an in-vehicle system mounted on the vehicle. The in-vehicle device that realizes the driving support device selects either imaging data obtained by imaging the front of the own vehicle or imaging data obtained by imaging the rear of the own vehicle, and displays the selected imaging data on the display. Based on the selected imaging data, the vehicle makes a lane departure determination or a rear obstacle determination, and issues a warning to the driver if necessary. The in-vehicle device can be provided with a navigation function, an audio / video data reproduction function, a TV / radio reception function, and the like in addition to the above-described driving support function.

  Next, examples of the present invention will be described. FIG. 2 is a block diagram showing the configuration of the in-vehicle device according to the first embodiment of the present invention, and the in-vehicle device implements a travel support device. As shown in the figure, the in-vehicle device 10 includes an input unit 100, a processing unit 110, a navigation unit 120, a data communication unit 130, an in-vehicle bus interface 140, a display unit 150, an audio output unit 160, a storage unit 170, and a control unit 180. Etc. are configured. Such a configuration is an example, and the in-vehicle device 10 may include other functions besides this.

  The input unit 100 includes an input key device, a voice input recognition device, a touch panel, and the like, and receives instructions from the user. The processing unit 110 receives imaging data from an imaging camera mounted on the vehicle, and executes image processing of the imaging data. In this example, the processing unit 110 receives imaging data D1 from the front camera FC mounted in front of the vehicle and D2 from imaging data from the rear camera RC mounted in the rear of the vehicle.

FIG. 3 is a diagram illustrating the imaging range of the front camera and the rear camera. As shown in the figure, the front camera FC is attached in front of the host vehicle M and images the front of the host vehicle M. The imaging range by the front camera FC, that is, the viewing angle θ _F is adjusted to an angle at which at least the white lines L1 and L2 ahead of the host vehicle are imaged and the white lines L1 and L2 can be recognized. The rear camera RC is attached to the rear of the host vehicle M and images the rear of the host vehicle M. The imaging range of the rear camera RC, that is, the viewing angle θR, satisfies the requirements of an angle that allows the white lines L1 and L2 behind the host vehicle to be captured and allows the white lines L1 and L2 to be recognized, and This satisfies the requirement of an angle at which an area that becomes a blind spot can be imaged. Therefore, in one preferred embodiment, the rear camera RC uses a lens whose viewing angle θ _R is larger than the viewing angle θ _F. However, the relationship between the viewing angle theta _R and the viewing angle theta _F is not limited thereto, may be the same, the viewing angle theta _R opposite may be smaller than the viewing angle theta _F.

  As illustrated in FIG. 4, the processing unit 110 receives the imaging data D1 from the front camera FC and the imaging data D1 from the rear camera RC, and selects a selection unit 112 that selects one of the imaging data, and the selection unit 112. And a signal processing unit 114 that performs image processing and the like of the imaging data selected by. The selection unit 112 performs input switching according to a selection signal SEL from the control unit 180. The signal processing unit 114 includes, for example, a chip such as a system LSI or DSP, and performs image processing on the captured data. In one preferable aspect, a white line of a road (including a yellow line that is not allowed to be overtaken) is detected from the image data, and an obstacle such as a person, a bicycle, a two-wheeled vehicle, or a car is detected from the image data. The detection method can be performed using a known image analysis technique. The result processed by the signal processing unit 114 is provided to the control unit 180, and the control unit 180 uses the processed result to determine lane departure or a rear obstacle.

  The navigation unit 120 displays a road map around the vehicle position, searches for a route to the destination, and provides route guidance. The own vehicle position required for the navigation unit 120 is calculated from positioning information using a GPS satellite and / or positioning information using a gyro sensor or an acceleration sensor mounted on the vehicle. The road map data, facility data, and the like can be read from the storage unit 170, or the server that distributes the road map data may be accessed via the data communication unit 130 and acquired from there. The navigation unit 120 can also display image data captured by the front camera FC and the rear camera RC while executing the navigation function. For example, the display can be divided into two screens, a road map around the vehicle position can be displayed on one screen, and a captured image can be displayed on the other screen.

  The data communication unit 130 enables transmission / reception of data communication with the outside by wireless or wired. For example, it is possible to connect to a server via a network or to connect to an external device such as a mobile terminal such as a smartphone brought into the vehicle. When a mobile terminal having a communication function is connected, the data communication function held by the mobile terminal itself can be used.

  The in-vehicle bus I / F 140 is connected to the in-vehicle bus and acquires various types of vehicle information. For example, vehicle speed information, vehicle blinker information, vehicle gear position information, and the like are acquired. The acquired information is used for switching control of imaging data D1 from the front camera FC and imaging data D2 from the rear camera RC, as will be described later. Further, the acquired information is also used in the navigation unit 120.

  The display unit 150 processes the received image data and displays it on the display. For example, the image data processed by the processing unit 110 is received, and a front image of the own vehicle or a rear image of the own vehicle is displayed. Further, the display unit 150 receives the image data from the navigation unit 120 and displays an image captured by the front camera / rear camera together with the navigation image.

  The voice output unit 160 outputs voice guidance by the navigation unit 120, voice data read from the other storage unit 170, and the like. Furthermore, an alarm can be output when it is determined that there is a lane departure or a rear obstacle based on image data captured by the front camera FC or the rear camera RC.

  The storage unit 170 can store data used in the in-vehicle device, program data such as applications, and the like. In one aspect, the storage unit 170 stores a map database or facility database used by the navigation unit 120. The map database stores link information (roads) and node information (intersections). The node information includes information representing road attributes in addition to information for identifying roads. For example, the number of road lanes, the width of the road, setting of overtaking prohibited sections, speed limit, curve sections (including curvature), etc.

  The control unit 180 includes, for example, a microprocessor and a microcontroller, and controls each unit by executing a program or the like stored in the ROM / RAM or the storage unit 170. In the present embodiment, the control unit 180 executes a driving support program for supporting driving of the host vehicle. The driving support program issues an alarm or the like when switching control of imaging data of the front camera FC and the rear camera RC or when safe driving is impaired.

  FIG. 5 shows a functional configuration of the driving support program of this embodiment. The driving support program 200 of this embodiment includes a lane number acquisition unit 210, an attribute information acquisition unit 220, a speed information acquisition unit 230, a vehicle state acquisition unit 240, a lane departure determination unit 250, a rear obstacle determination unit 260, and a selection determination unit. 270 and alarm output unit 280 and the like.

  The lane number acquisition unit 210 acquires lane information including the lane number of the road on which the host vehicle is traveling. In one aspect, the lane information of the road whose vehicle position is map-matched by the navigation unit 120 is acquired from the road database of the storage unit 170. In another aspect, when the number of lanes can be detected from image data captured by the front camera or the rear camera, the number of lanes may be acquired. In yet another aspect, the number of lanes on the road on which the vehicle is traveling may be acquired from an external server via the data communication means.

  The attribute information acquisition unit 220 acquires attribute information of the road on which the host vehicle is traveling. As described above, the attribute information includes, for example, the width of the road, the setting of the overtaking prohibited section, the speed limit, the curve section (including the curvature), and the like.

  The speed information acquisition unit 230 acquires the speed information of the host vehicle via the in-vehicle bus I / F 140. The vehicle state acquisition unit 240 acquires, for example, gear position and winker information via the in-vehicle bus I / F 140. In this embodiment, information including the number of road lanes, attribute information, speed information, and vehicle state is collectively defined as traveling state information of the own vehicle.

  The lane departure determination unit 250 determines whether or not the own vehicle has deviated from the lane based on the analysis result of the imaging data from the signal processing unit 114. In a preferred example, when the distance between the host vehicle and the white line is smaller than a certain value, it can be determined that the vehicle is departing from the lane. Alternatively, in another example, when the distance between the vehicle and the white line tends to decrease within a certain period, it can be determined that the vehicle has deviated from the lane. The white line used for lane departure may be either image data captured by the front camera FC or image data captured by the rear camera RC. That is, it is possible to determine lane departure based on both imaging data. However, at night, a white line ahead is emitted by the headlight of the own vehicle, and as a result, the white line detection accuracy by the front camera is higher than the white line detection accuracy by the rear camera. Therefore, the accuracy of determining the lane departure is higher when the image data of the front camera is used.

  The rear obstacle determination unit 260 determines whether there is a rear obstacle based on the analysis result of the imaging data from the signal processing unit 114. The rear obstacle determination is performed when imaging data from the rear camera RC is selected.

  The selection determining unit 270 determines which imaging data of the front camera FC or the rear camera RC is to be selected, and outputs a selection signal SEL to the selecting unit 112 according to the determination result. The selection determination unit 270 determines the selection based on the above-described traveling state information. For example, when the number of lanes on the road on which the vehicle is traveling is two or more lanes (passable section), the selection determining unit 270 selects the rear camera RC, and the number of lanes is one lane (passing prohibited section). If so, the front camera FC is selected. The detailed operation of the selection determination unit 270 will be described later.

  When the lane departure determining unit 250 determines that there is a lane departure and / or the rear obstacle determining unit 260 determines that there is an obstacle behind the blind spot, the warning output unit 280 displays the display unit 150. Alternatively, an alarm is output from the audio output unit 160.

  Next, the driving support operation according to the first embodiment of the present invention will be described with reference to the flowchart of FIG. A driving support program is started when the host vehicle starts driving. In a preferred embodiment, the navigation unit 120 is also activated, and a road map around the vehicle position is displayed on the display unit 150.

  First, the number of lanes of the road on which the host vehicle is traveling is acquired by the lane number acquisition unit 210 (S100). The selection determination unit 270 selects the front camera FC or the rear camera RC based on the number of lanes. Specifically, it is determined whether or not the number of lanes is one lane (S102). If the number of lanes is one lane, the front camera FC is selected (S104), and the number of lanes is two or more lanes. If there is, the rear camera RC is selected (S106). The selection unit 112 selects imaging data in accordance with the selection signal SEL determined by the selection determination unit 270.

  FIG. 7A shows a state where the host vehicle is traveling on a two-lane road, and FIG. 7B shows a state where the host vehicle is traveling on a one-lane road. When the host vehicle is traveling on a two-lane road, it is necessary to monitor the other vehicle P approaching the host vehicle M from the rear side (dead angle). For this reason, the rear camera RC is selected. On the other hand, when the host vehicle is traveling on a one-lane road, in principle, there are few other vehicles approaching the host vehicle M from the rear side (dead angle). For this reason, the front camera FC is selected.

  Next, the signal processing unit 114 of the processing unit detects a white line by performing image processing on the selected imaging data (S108). The white line information can be detected regardless of whether the front camera FC or the rear camera RC is selected. Next, the lane departure determination unit 250 determines whether or not the vehicle departs from the lane based on the detected white line information (S110). If it is determined that the vehicle is departing from the lane, the alarm output unit 280 causes the display unit 150 and the audio output unit 160 to output an alarm (S112). The selected imaging data may be displayed on the display unit 150 together with the navigation screen.

  It is possible to detect a white line by using imaging data from either the front camera FC or the rear camera RC. If the rear camera RC is selected, the lane departure determination and the rear obstacle determination can be performed simultaneously. However, the performance of white line detection by the rear camera RC deteriorates during night driving. Therefore, in this embodiment, when the risk from the rear is small, the accuracy of the lane departure determination is improved by selecting the front camera FC.

  Next, a second embodiment of the present invention will be described. In the first embodiment, the selection determining unit 270 selects the front camera FC or the rear camera RC based on the number of lanes, but in the second embodiment, the attribute information of the road on which the vehicle is traveling is selected. To select the camera.

  The attribute information acquisition unit 220 acquires attribute information of the road on which the vehicle is traveling from the map database in the storage unit 170. The selection determining unit 270 selects the rear camera RC from the acquired attribute information even if the number of lanes is one lane and the straight section of the road is more than a certain distance. This is because, when the straight section is long, the passing vehicle may approach from the rear side. When the link information does not include the distance information of the straight section, the straight section may be appropriately determined from the shape from the start point to the end point of the link.

  As another aspect, the selection determination unit 270 determines whether or not it is an overtaking section from the acquired attribute information. If it is an overtaking section, the rear camera RC is selected. The camera FC is selected. Whether or not it is an overtaking section is determined, for example, by whether or not overtaking prohibition (yellow line) is set by law. However, even if such overtaking prohibition is not set, if it is a curve section or if the width of the road is below a certain value, it is actually difficult to overtake, so it is determined that there is no overtaking May be. Whether or not it is a curved section is determined by whether or not the curvature of the road is included in the link information, whether or not the curvature is greater than a certain value. If the curvature is not included, it is estimated from the road shape. May be.

  Next, a third embodiment of the present invention will be described. In the third embodiment, the camera is selected based on the speed information of the own vehicle in addition to the lane information and attribute information. The speed information acquisition unit 230 acquires the speed information of the host vehicle via the in-vehicle bus I / F 140. In this embodiment, the selection determination unit 270 determines whether or not the speed information is equal to or higher than a certain speed, and selects the front camera FC or the rear camera RC only when the speed information is equal to or higher than the certain speed. Selects the rear camera RC regardless of lane information or attribute information.

  FIG. 8 is a flowchart for explaining the operation of the third embodiment of the present invention. First, the vehicle speed information is acquired by the speed information acquisition unit 230 (S200). Next, the selection determination unit 270 determines whether or not the speed information is equal to or higher than a certain speed (for example, 60 km / h) (S202). When it is determined that the speed is less than the predetermined speed, the selection determination unit 270 selects the rear camera RC without performing determination based on the lane information or attribute information (S106). If it is determined that the speed is equal to or higher than a certain speed, the camera is selected according to the flow of steps S100 to S112 as shown in the first embodiment.

  In the third embodiment, when the traveling speed of the host vehicle is less than a certain speed, the rear camera RC having a low lane departure determination performance is selected regardless of the lane information. This is because, at low speeds, high-performance lane departure judgment is not important, and monitoring of obstacles on the rear side becomes important. For example, when the vehicle is traveling at a low speed near a traffic jam or near an intersection, overtaking of a motorcycle or the like may occur from the blind spot on the rear side, and this can be dealt with accurately.

  Furthermore, in the third embodiment, the rear camera is selected when the speed of the host vehicle is less than a certain speed, but an exception may be set. For example, it is possible to execute an operation mode during low-speed traveling by user settings from the input unit 100. The operation mode during low-speed traveling is, for example, recognizing a traffic light from image data from the front camera FC or determining the presence or absence of a front obstacle from image data from the front camera FC. When it is desired to execute such an operation mode when traveling at a low speed, the front camera may be always selected when the speed of the host vehicle is less than a certain speed.

  Further, in the third embodiment, the rear camera is selected when the speed of the host vehicle is less than a certain speed. However, the rear camera is always selected not only when driving at a low speed but also when stopping or moving backward. May be. In this case, the vehicle state acquisition unit 240 acquires information on the gear position and the side brake via the in-vehicle bus I / F 140, and the selection determination unit 270 determines that the gear position is reverse or the side brake is turned on. When it is, the rear camera RC is selected. When stopping or retreating, lane departure judgment is often unnecessary, but in such cases, there are many obstacles such as pedestrians, bicycles, and other objects in the blind spots on the rear side. And monitoring them. Therefore, it is desirable to select the rear camera RC.

  Next, a fourth embodiment of the present invention will be described. In the fourth embodiment, in addition to lane information, attribute information, and the like, more accurate camera selection is performed in consideration of the determination of a rear obstacle and the determination of lane departure. FIG. 9 is an operational flow of driving support according to the fourth embodiment. As in the first embodiment, the number of lanes of the road on which the vehicle is traveling is acquired by the lane number acquisition unit 210 (S300), and the selection determination unit 270 determines whether the lane is one lane or two lanes or more. It is determined (S302). If it is one lane, the selection determining unit 270 selects the front camera FC (S304), and if it is two or more lanes, the selection determining unit 270 selects the rear camera RC (S306).

  Next, the selection determination unit 270 monitors the determination results of the lane departure determination unit 250 and the rear obstacle determination unit 260, and when it is determined that there is no obstacle approaching from the rear (S308) and there is no lane departure. (S310), the selection determination unit 270 selects the front camera FC (S304). Note that this determination criterion may be different from the determination criterion for outputting an alarm by the alarm output unit 280, and may be a stricter criterion than the determination criterion by the alarm output unit 280, for example. This is because a period in which the back of the vehicle is not monitored at all occurs.

  After switching to the front camera FC, the selection determination unit 270 monitors the determination of lane departure based on the imaging data from the front camera FC, and when it is determined that there is a lane departure, the rear camera RC is selected ( S306). Furthermore, the selection determination unit 270 also selects the rear camera RC when it is detected that the winker has been issued from the vehicle state acquisition unit 240 (S306). This is because both of these two operations require monitoring or confirmation on the rear side of the vehicle. After the rear camera RC is selected, if there is no rear obstacle (S308) and there is no lane departure (S310), the camera is switched to the front camera FC again.

  As described above, the fourth embodiment can temporarily switch to the front camera FC even when traveling in two or more lanes, and after switching, when safety confirmation is required behind the vehicle. By switching to the rear camera RC again, the switching timing of the front camera FC and the rear camera RC can be flexibly controlled according to the traveling state.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the specific embodiment, and various modifications can be made within the scope of the present invention described in the claims. Deformation / change is possible.

10: In-vehicle device 100: Input unit 110: Processing unit 112: Selection unit 114: Signal processing unit 120: Navigation unit 130: Data communication unit 140: In-vehicle bus I / F
150: Display unit 160: Audio output unit 170: Storage unit 180: Control unit 200: Driving support program 210: Lane number acquisition unit 220: Attribute information acquisition unit 230: Speed information acquisition unit 240: Vehicle state acquisition unit 250: Lane departure Determination unit 260: Rear obstacle determination unit 270: Selection determination unit 280: Alarm output unit FC: Front camera RC: Rear camera M: Own vehicle P: Other vehicle

Claims (21)

Selection means for selecting first imaging data that images the front of the host vehicle or second imaging data that images the rear of the host vehicle;
An acquisition means for acquiring driving situation information relating to the driving situation of the vehicle;
Determination means for determining safety of traveling based on the first imaging data or the second imaging data selected by the selection means;
Selection control means for controlling the selection of the selection means based on the traveling state information;
A driving support device having The traveling status information includes the number of lanes of the road on which the vehicle is traveling, and the selection control means selects the first imaging data when the number of lanes is one lane, and the second when the number of lanes is two or more. The driving support apparatus according to claim 1, wherein imaging data is selected. The travel status information includes a road attribute on which the host vehicle is traveling, and the selection control means includes a second attribute if the straight section of the road is a certain distance or more even if the number of lanes is one lane. The driving support apparatus according to claim 2, wherein imaging data is selected. The travel status information includes a road attribute on which the host vehicle is traveling, and the selection control means causes the second imaging data to be selected when the road is an overtaking section, and is selected when the road is a section without overtaking. The driving support device according to claim 1, wherein one driving data is selected. The travel support device according to claim 4, wherein the section without overtaking is a curved section having a certain curvature or more. The travel support device according to claim 4, wherein the section without overtaking is a section of one lane whose width is a predetermined value or less. The travel support apparatus according to claim 1, further comprising a warning output unit that outputs a warning based on a determination result of the determination unit. The driving support apparatus according to any one of claims 1 to 7, further comprising a display unit that displays the first imaging data or the second imaging data selected by the selection unit. The determination unit includes an analysis unit that analyzes the first or second imaging data selected by the selection unit, a lane departure determination unit that determines whether there is a lane departure based on an analysis result of the analysis unit, and the analysis The driving support device according to any one of claims 1 to 8, further comprising an obstacle determination unit that determines whether there is an obstacle behind the host vehicle based on the result. When the first imaging data is selected by the selection means, the lane departure determination means is executed, and when the second imaging data is selected by the selection means, the lane departure determination means and the obstacle The travel support apparatus according to claim 9, wherein the determination unit is executed. The driving assistance device according to claim 9, wherein the lane departure determination unit determines lane departure based on white line information detected from imaging data. When the second imaging data is selected, the selection control means determines that there is no lane departure by the lane departure determination means and the obstacle determination means determines that there is no obstacle. The driving support device according to claim 9, wherein the selection is switched to one imaging data. The travel support apparatus according to claim 12, wherein the selection control means switches the selection to the second imaging data when the lane departure determination means determines that there is a lane departure. The travel support apparatus according to claim 12, wherein the travel status information includes winker information of the host vehicle, and the selection control unit switches the selection to second imaging data when the winker is issued. The driving condition information includes speed information of the host vehicle, and the selection control unit causes the second imaging data to be selected regardless of the number of lanes when the speed of the host vehicle is less than a predetermined speed. The driving support device according to any one of 1 to 14. The travel status information includes speed information of the host vehicle, and the selection control unit causes the first imaging data to be selected regardless of the number of lanes when the speed of the host vehicle is less than a predetermined speed. The driving support device according to any one of 1 to 14. The driving support device further includes an input unit that receives an input from a user, and a setting unit that sets an operation mode of the selection unit based on the input unit. The selection control unit includes a first unit based on the operation mode. The driving support device according to any one of claims 1 to 16, wherein the imaging data or the second imaging data is selected. There is provided means for selecting first imaging data for imaging the front of the host vehicle or second imaging data for imaging the rear of the host vehicle, and displaying the selected first imaging data or second imaging data. A driving support program executed by the driving support device,
A driving support program for selecting first imaging data when the road on which the vehicle is traveling is one lane, and selecting second imaging data when the road is two or more lanes. There is provided means for selecting first imaging data for imaging the front of the host vehicle or second imaging data for imaging the rear of the host vehicle, and displaying the selected first imaging data or second imaging data. A driving support program executed by the driving support device,
A driving support program that causes the second imaging data to be selected when the road on which the host vehicle is traveling is an overtaking section, and the first imaging data to be selected when the road is not overtaking. There is provided means for selecting first imaging data for imaging the front of the host vehicle or second imaging data for imaging the rear of the host vehicle, and displaying the selected first imaging data or second imaging data. A driving support method in the driving support device,
A driving support method for selecting first imaging data when the road on which the vehicle is traveling is one lane, and selecting second imaging data when the road is two or more lanes. There is provided means for selecting first imaging data for imaging the front of the host vehicle or second imaging data for imaging the rear of the host vehicle, and displaying the selected first imaging data or second imaging data. A driving support method in the driving support device,
A driving support method in which the second imaging data is selected when the road on which the vehicle is traveling is an overtaking section, and the first imaging data is selected when the road is not overtaking.

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