JP2017159723A - Automatic drive support device and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic drive support device which can support the automatic drive of a vehicle by continuing the support as much as possible even if there is a tollgate in a traveling direction in front of the vehicle, and a computer program.SOLUTION: When there is a tollgate in a traveling direction in front of a vehicle in a state that automatic drive support related to lane maintenance traveling is performed, a partitioning line distinguishing point being a point at which either of the left and right of partitioning lines distinguishes, and a road widening point being a point at which a width of a lane in which the vehicle travels is widened are specified at the near side of the tollgate, and when there is the tollgate in the traveling direction in front of the vehicle, either of the partitioning line distinguishing point or the road widening point is set as a change point at which a control content of the automatic drive support related to the lane maintenance traveling is changed, or a finish point at which control is finished.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an automatic driving support apparatus and a computer program that perform automatic driving support in a vehicle.

  In recent years, automatic driving that assists the user in driving the vehicle by executing part or all of the user's driving operation on the vehicle side, in addition to manual driving that travels based on the user's driving operation, as the driving mode of the vehicle. A new support system has been proposed. In the automatic driving support system, for example, vehicle control such as steering, drive source, and brake is performed so that the vehicle continuously travels in the vicinity of the center of the same lane while maintaining a predetermined speed and a certain distance from the preceding vehicle. Done automatically. Here, the driving by the automatic driving support system has the merit that the burden on the user's driving can be reduced, but it is not always possible to properly carry out under any circumstances, and in order to carry out properly, the lane marking of the lane is It is necessary to satisfy the conditions such as existing.

  For example, in the vicinity of a toll booth at the entrance or exit of a highway, the road width suddenly expands or the lane markings often disappear, and the automatic driving support cannot be properly implemented in many cases. In view of this, Japanese Patent Application Laid-Open No. 2004-102536 proposes a technique that prevents inappropriate automatic driving assistance from being performed by setting an area where automatic driving assistance is stopped around the toll gate. .

JP 2004-102536 A (page 7)

  Here, as described above, traveling by the automatic driving support system has a merit that the burden on the user's driving can be reduced. Therefore, it is desirable to expand the target section to be implemented as much as possible. As shown in FIG. 13, when the toll gate 102 is in front of the traveling direction of the vehicle 101, the automatic driving support of the vehicle is interrupted when the area around the toll gate 102 is reached in Patent Document 1 described above. However, as shown in FIG. 13, if the lane markings are close to the toll booth 102, it is desirable to continue the automatic driving support until the lane markings disappear.

  The present invention has been made to solve the above-described conventional problems, and even when there is a toll gate in front of the traveling direction of the vehicle, the automatic driving support of the vehicle is continuously performed as much as possible. It is an object of the present invention to provide an automatic driving support device and a computer program that are made possible.

In order to achieve the above object, an automatic driving assistance apparatus according to the present invention is based on a lane line detection unit that detects a lane line that divides a lane in which a vehicle travels, and the lane line detected by the lane line detection unit. Driving assistance means for performing automatic driving assistance related to the lane keeping running of the vehicle, and a lane line disappearance point or a travel of the vehicle, which is a point where either the left or right of the lane line disappears on the front side in the traveling direction of the toll gate A road specifying point for specifying a road widening point, which is a point where the width of the lane to be widened, and when the driving support means has a toll gate ahead of the traveling direction of the vehicle, the lane marking disappearance point Alternatively, any one of the road widening points is set as a change point for changing the control content of the automatic driving support related to the lane keeping traveling or an end point for ending the control.
Note that “automatic driving assistance” refers to a function of performing or assisting at least a part of the driver's vehicle operation on behalf of the driver.
“Performing automatic driving support” includes generating or providing information used for automatic driving support in addition to performing vehicle control related to automatic driving support.
In addition to the lane center line, the lane boundary line, and the lane outside line, the “division line” includes a pedestrian crossing guidance line, a diversion zone and the like.

  According to another aspect of the present invention, there is provided a computer program that causes a computer to detect a lane line that divides a lane in which the vehicle travels, and a lane line that is detected by the lane line detection unit. Driving assistance means for performing automatic driving assistance related to lane maintenance traveling, and a lane line disappearance point or a lane on which the vehicle travels, which is a point where either the left or right of the lane line disappears on the front side in the traveling direction of the toll gate A computer program for functioning as a point specifying means for specifying a road widening point that is a point where the width is widened, wherein the driving support means has a toll gate ahead of the traveling direction of the vehicle, The change point or control for changing the control content of the automatic driving support related to the lane keeping traveling at either the lane marking disappearance point or the road widening point is terminated. It is set as the completion point.

  According to the automatic driving support apparatus and the computer program according to the present invention having the above-described configuration, when there is a toll gate ahead of the traveling direction of the vehicle, By setting the end point to end control based on the lane marking, even if there is a toll gate ahead of the direction of travel of the vehicle, it is possible to continue running with automatic driving support as much as possible It becomes possible.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is a flowchart of the automatic driving assistance program which concerns on this embodiment. It is a flowchart of the sub-processing program of the prefetch process of a toll gate. It is the figure which each showed the road widening point in front of the toll gate, the lane marking disappearance point, and the toll gate gate point. It is the figure which showed the example when there is no lane marking disappearance point in front of the toll booth. It is the figure which showed the example when there is no road widening point before the toll booth. It is the figure which showed the example when there is no lane marking disappearance point and lane marking disappearance point in front of the toll booth. It is a flowchart of the sub process program of the support change process of a toll gate. It is the figure which showed the change aspect of the control content of automatic driving assistance when a vehicle passes the road widening point. It is the figure which showed the change aspect of the control content of automatic driving assistance when a vehicle passes the road widening point. It is the figure which showed the change aspect of the control content of automatic driving assistance when a vehicle passes the lane marking disappearance point. It is the figure which showed the change aspect of the control content of automatic driving assistance when a vehicle passes the lane marking disappearance point. It is a figure explaining the problem of the prior art.

  Hereinafter, an automatic driving support device according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and information on the map around the vehicle and the guidance route set in the navigation device 1 for the user Such as a liquid crystal display 15 that displays voice guidance related to route guidance, a DVD drive 17 that reads a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like. And a communication module 18 that communicates with the information center. The navigation device 1 is connected to an in-vehicle camera 19 and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 20 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Various operation buttons 21 mounted on the vehicle such as an automatic driving start button are also connected.

Below, each component which the navigation apparatus 1 has is demonstrated in order.
The current position detection unit 11 includes a GPS 22, a vehicle speed sensor 23, a steering sensor 24, a gyro sensor 25, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 23 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may include a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 displays, for example, link data 34 relating to roads (links), node data 35 relating to node points, search data 36 used for processing relating to route search and change, facility data relating to facilities, and maps. Storage means for storing map display data, intersection data relating to each intersection, search data for searching for points, and the like.

  The link data 34 includes, for each link constituting the road, the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the merged section, the road structure, the number of lanes of the road, the number of lanes The data indicating the decreasing part, the width narrowing part, the level crossing, etc. for the corner, the curvature radius, the intersection, the T-junction, the entrance and the exit of the corner, etc., the data indicating the road attribute, the downhill road, the uphill road, etc. In addition to general roads such as national roads, prefectural roads, and narrow streets, data representing roads are recorded for expressways such as national highways, urban highways, exclusive roads, general toll roads, and toll bridges. Is done. In particular, in the present embodiment, information is also stored that specifies the location where the toll gate is installed, the location where the width of the lane widens, and the location where the lane marking that divides the lane disappears. In addition, about the point where the width of a lane widens or the point where the lane marking which divides a lane disappears, the information which pinpoints an applicable point may be stored beforehand in map information DB31, but it detects with the camera 19 outside and a sensor It is good also as a structure.

  Further, as the node data 35, actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  In addition, as the search data 36, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination is recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which the RAM 42 storing the route data when the route is searched, the control program, and the automatic driving support program (see FIG. 2) described later are recorded. And an internal storage device such as a flash memory 44 for storing the program. The navigation ECU 13 has various means as processing algorithms. For example, the lane marking detection unit detects a lane marking that divides a lane in which the vehicle travels. The driving support means performs automatic driving support related to the lane keeping running of the vehicle based on the lane line detected by the lane line detection means. The point identification means identifies the lane marking disappearance point, which is the point where either the left or right of the lane line disappears, or the road widening point, which is the point where the width of the lane on which the vehicle travels widens, on the front side of the toll booth To do.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may have a microphone and a speech recognition apparatus.

  The liquid crystal display 15 displays map images including roads, traffic information, operation guidance, operation menus, key guidance, guidance information along the guidance route, news, weather forecast, time, mail, TV program, and the like. The In this embodiment, when starting or canceling automatic driving support, guidance for starting or canceling automatic driving support is also displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In this embodiment, when automatic driving support is started or canceled, voice guidance for starting or canceling automatic driving support is also output.

  Here, as a traveling form of the vehicle, in addition to the manual driving traveling that travels based on the user's driving operation, the vehicle automatically travels along a predetermined route or road regardless of the user's driving operation. It is possible to run with automatic driving assistance. In traveling by automatic driving support, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and the vehicle travels along a route or road preset by the vehicle control ECU 20. Thus, vehicle control such as steering, drive source, and brake is automatically performed.

Specifically, in the present embodiment, the following automatic driving support is performed.
(1) “Constant speed travel”: Travels in the same lane at a predetermined set speed (for example, 90% of the speed limit of the traveling road).
(2) “Follow-up traveling”: Within the same lane with the set speed (for example, 90% of the speed limit of the traveling road) as the upper limit and keeping the distance between the vehicles ahead with a certain distance (for example, 10 m) Run.
(3) The vehicle travels in the vicinity of the center of the lane (lane maintaining travel) without departing from the lane (for example, lane keeping assist).

  Note that in the travel by the automatic driving support of the present embodiment, the lane change and the left / right turn are not performed, and the vehicle basically travels in the same lane unless the user performs the vehicle operation for the lane change or the right / left turn.

  In addition, the control related to the automatic driving support described in (1) to (3) above may be performed for all road sections, but a gate (manned, unmanned, free of charge is not required) at the boundary with other roads to be connected. It is good also as a structure performed only during driving | running | working on the highway provided. When the vehicle travels in a section where automatic driving can be performed (hereinafter referred to as automatic driving section), automatic driving support is not always performed, but it is selected by the user to perform automatic driving support, Moreover, it is performed only in a situation where it is determined that traveling can be performed by automatic driving support. In addition, as a situation where traveling cannot be performed by automatic driving support, there is a case where road information necessary for performing automatic driving support such as lane markings cannot be acquired.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. . In addition, a vehicle-to-vehicle communication device that performs communication between vehicles and a road-to-vehicle communication device that performs communication with roadside devices are also included.

  The vehicle exterior camera 19 is constituted by a camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 20 performs image processing on the captured image to detect a lane line drawn on the road on which the vehicle travels, a point where the width of the lane widens, other vehicles in the vicinity, Based on the detection result, automatic driving assistance of the vehicle is performed. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. Further, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator, and in this embodiment, the vehicle is controlled by controlling each drive unit after the automatic driving support is started in the vehicle. Carry out automatic driving support. Further, when an override is performed by the user during the automatic driving support, it is detected that the override has been performed.

  Here, navigation ECU13 transmits the instruction | indication signal regarding automatic driving assistance with respect to vehicle control ECU20 via CAN after a driving | running | working start. And vehicle control ECU20 implements the automatic driving assistance after a driving | running | working start according to the received instruction signal. Note that the content of the instruction signal is information for instructing control content (for example, any one of the above (1) to (3)) of automatic driving assistance performed on the vehicle, control start, stop, change or the like. In addition, it is good also as a structure which not the navigation ECU13 but vehicle control ECU20 sets the control content of automatic driving assistance. In that case, the vehicle control ECU 20 is configured to acquire information necessary for setting the control details of the automatic driving support such as the guide route, the vehicle state, and the surrounding map information from the navigation device 1.

  Next, an automatic driving support program executed by the CPU 41 in the navigation device 1 according to this embodiment having the above-described configuration will be described with reference to FIG. FIG. 2 is a flowchart of the automatic driving support program according to the present embodiment. Here, the automatic driving support program includes at least “(3) the vehicle travels in the vicinity of the center of the lane without departing from the lane (lane maintaining driving) (for example, lane keeping, This is a program that is executed in a state in which "assist)" is executed, and stops automatic vehicle driving assistance or changes control contents. The programs shown in the flowcharts of FIGS. 2, 3 and 8 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and are executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the automatic driving support program, the CPU 41 performs toll gate prefetching processing (FIG. 3) described later. In the pre-reading process of the toll gate, road information ahead in the traveling direction is acquired from the map information DB 31 along the planned travel route of the vehicle as described later, or roads ahead in the traveling direction using the outside camera 19 and various sensors. If there is a toll gate in the forward direction of the vehicle when the situation is detected, a point where the control content of the automatic driving support is changed based on the type of the toll booth (hereinafter referred to as the changed point) and the automatic driving support A point at which control is to be ended (hereinafter referred to as an end point) is set.

  Subsequently, in S2, the CPU 41 determines whether there is a toll gate within a predetermined distance (for example, within 300 m) ahead in the traveling direction along the planned travel route of the vehicle based on the result of the pre-reading process of the toll gate in S1. That is, it is determined whether a change point and an end point are set.

  If it is determined that there is a toll gate within a predetermined distance ahead of the traveling direction along the planned travel route of the vehicle (S2: YES), that is, if a change point and an end point are set, go to S3. And migrate. On the other hand, when it is determined that there is no toll gate within a predetermined distance ahead of the traveling direction along the planned travel route of the vehicle (S2: NO), that is, when the change point and end point are not set, The automatic driving support processing program is terminated. As a result, the control related to the current automatic driving support is continuously performed.

  In S3, the CPU 41 performs a support change process (FIG. 8) described later. In the support change process, as will be described later, based on the change point and the end point set in S1, the control content of the automatic driving support implemented in the vehicle is changed, or the process of terminating the control is performed. .

  Next, the sub-process of the toll gate pre-read process executed in S1 will be described with reference to FIG. FIG. 3 is a flowchart of a sub-processing program for pre-reading processing at a toll gate.

  First, in S <b> 11, the CPU 41 acquires the current position of the vehicle detected by the current position detection unit 11. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology. Here, the high-accuracy location technology detects white lines and road surface paint information captured from a camera installed in a vehicle by image recognition, and further compares the white lines and road surface paint information with a previously stored map information DB. This is a technology that makes it possible to detect a traveling lane and a highly accurate vehicle position. The details of the high-accuracy location technology are already known and will be omitted. In S1, when the vehicle travels on a road composed of a plurality of lanes, the lane in which the vehicle travels is also specified.

  Subsequently, in S11, the CPU 41 acquires from the map information DB 31 the road information ahead in the traveling direction from the current position of the vehicle along the planned travel route. Note that the planned travel route is a route on which it is assumed that the vehicle travels while maintaining the current lane. Further, when a guidance route is set in the navigation device 1, the guidance route may be set as the planned travel route.

  The road information acquired in S1 includes the location where the gate of the toll gate is installed (hereinafter referred to as the toll gate location) and the front side of the toll gate when there is a toll gate ahead of the vehicle in the traveling direction. Information that identifies the point where the lane width widens (hereinafter referred to as the road widening point) and the point where the lane marking that divides the lane disappears (hereinafter referred to as the lane line disappearing point) in front of the toll gate Point coordinates). However, the road widening point is the point where the width of the lane in which the vehicle currently travels is widened, and the road is widened if the width of the lane in which the vehicle currently travels does not change even when other lanes that run in parallel are widened. We do not recognize in place. Similarly, the lane marking disappearance point is the point where the lane marking that divides the lane in which the vehicle currently travels disappears, and the lane in which the vehicle currently travels even if the lane marking that divides the other lanes that run in parallel disappears If no lane line disappears, it will not be recognized as a lane line disappearance point.

  The toll gate point, the road width widening point, and the lane marking disappearance point may be detected by the outside camera 19 or a sensor. For example, the image processing is performed on the captured image captured by the camera 19 outside the vehicle to detect a lane line and a road edge in front of the traveling direction of the vehicle, and to identify each point. In this embodiment, the road width widening point is a point where the lane width starts to widen. In addition, the lane line disappearance point is basically the point where the lane boundary line disappears (that is, the point where only the left or right lane line disappears when the vehicle travels on the right or left lane) Other lane markings such as a roadway center line, a roadway outer line, a pedestrian crossing guidance line, and a current basin may also be included in the target.

  For example, when the toll gate 52 shown in FIG. 4 exists in front of the traveling direction of the vehicle 51, the road widening point X is specified as the road lane width starting point on the front side of the toll gate 52. Similarly, the point where the lane boundary 53, which is the lane marking of the lane, disappears on the front side of the toll gate 52 is specified as the lane marking disappearance point Y. Further, a point where the gate is particularly located in the toll gate 52 is specified as a toll gate gate point Z. Depending on the type of toll gate, there may be a case where no lane marking disappearance point Y exists, a road widening point X does not exist, or a road widening point X and a lane marking disappearance point Y do not exist. For example, in the case where the toll gate 52 shown in FIG. 5 exists in front of the traveling direction of the vehicle 51, the lane boundary line 53 continues to the toll gate 52, so there is no lane marking disappearance point Y and the road Only the widening point X and the toll gate point Z are identified. On the other hand, when the toll gate 52 shown in FIG. 6 exists in front of the traveling direction of the vehicle 51, the width of the lane does not change up to the toll gate, so there is no road widening point X and the lane marking disappearance point Y and the toll Only the gate point Z is identified. In the case where the toll gate 52 shown in FIG. 7 exists in front of the traveling direction of the vehicle 51, the lane boundary line 53 continues to the toll gate 52, and the width of the lane does not change to the toll gate. There is no road widening point X and no lane marking disappearance point Y, and only the toll gate point Z is specified. The road widening point X and the lane marking disappearance point Y may be the same point.

  Thereafter, in S12, the CPU 41 is within a predetermined distance (for example, within 300 m) ahead of the traveling direction of the vehicle along the planned travel route based on the road information acquired in S11 and the road condition detected by the camera 19 outside the vehicle. Determine if there is a toll booth.

  If it is determined that there is a toll gate within a predetermined distance ahead of the traveling direction of the vehicle along the planned travel route (S12: YES), the process proceeds to S13. On the other hand, when it is determined that there is no toll gate within a predetermined distance ahead of the traveling direction of the vehicle along the planned travel route (S12: NO), a change point for changing the control content of the automatic driving support, The process proceeds to S2 without setting an end point for ending the control of the automatic driving support. As a result, the control related to the current automatic driving support is continuously performed.

  Next, in S13, the CPU 41, based on the road information acquired in S11 and the road condition detected by the camera 19 outside the vehicle, at the front side of the toll gate ahead of the traveling direction of the vehicle, Determine whether there are both vanishing points.

  If it is determined that there are both a road widening point and a lane marking disappearance point on the front side of the toll gate in front of the traveling direction of the vehicle (S13: YES), the process proceeds to S14. On the other hand, if it is determined that there is only one or both of the road widening point and the lane marking disappearance point on the front side of the toll gate in the forward direction of the vehicle (S13: NO), go to S21. Transition.

  Next, in S14, the CPU 41 determines whether or not the road widening point and the lane marking disappearance point are on the near side (vehicle side) of the lane marking disappearance point with respect to the road widening point and the lane marking disappearance point determined to be on the near side of the toll gate. judge.

  When it is determined that the road widening point is on the near side (vehicle side) from the lane marking disappearance point (S14: YES), the process proceeds to S15. On the other hand, when it is determined that the road widening point is on the traveling direction side (the toll gate side) or at the same point from the lane marking disappearance point (S14: NO), the process proceeds to S18.

  In S <b> 15, the CPU 41 sets the type of toll gate to “widening”. The set toll booth type is stored in the flash memory 44 or the like. The type of tollgate once set is continuously set until the automatic driving support ends, and is initialized (reset) when the automatic driving support ends (S44, S57).

  Next, in S <b> 16, the CPU 41 sets a road widening point determined to be on the near side (vehicle side) as the starting point 1. The starting point 1 is a point (change point) where the control content of the automatic driving support is changed as will be described later. Information (for example, position coordinates) for specifying the set starting point 1 is stored in the flash memory 44 or the like.

  Subsequently, in S <b> 17, the CPU 41 sets the lane marking disappearance point determined to be on the traveling direction side (tollgate side) as the starting point 2. Note that the starting point 2 is a point (end point) where the control of the automatic driving support is ended as described later. Information (for example, position coordinates) specifying the set start point 2 is stored in the flash memory 44 or the like. The starting point 1 is basically set for the starting point 2 for the lane in which the vehicle is currently traveling. Thereafter, the process proceeds to S2.

  On the other hand, in S <b> 18, the CPU 41 sets the type of the toll gate to “line disappearance”. The set toll booth type is stored in the flash memory 44 or the like.

  Next, in S <b> 19, the CPU 41 sets the lane marking disappearance point determined to be on the near side (vehicle side) as the starting point 1. The starting point 1 is a point (change point) where the control content of the automatic driving support is changed as will be described later. Information (for example, position coordinates) for specifying the set starting point 1 is stored in the flash memory 44 or the like.

  Subsequently, in S <b> 20, the CPU 41 sets a road widening point determined to be on the traveling direction side (the toll gate side) as the starting point 2. Note that the starting point 2 is a point (end point) where the control of the automatic driving support is ended as described later. Information (for example, position coordinates) specifying the set start point 2 is stored in the flash memory 44 or the like. When the road widening point and the lane marking disappearance point are the same point, the same point is set for the starting point 1 and the starting point 2. Thereafter, the process proceeds to S2.

  On the other hand, in S21, the CPU 41, based on the road information acquired in S11 and the road condition detected by the outside camera 19, on the front side of the toll booth ahead of the traveling direction of the vehicle, It is determined whether or not there is only a road widening point among the points.

  If it is determined that there is only a road widening point on the front side of the toll gate in front of the traveling direction of the vehicle (S21: YES), the process proceeds to S22. On the other hand, when it is determined that there is only a lane marking disappearance point or both a road widening point and a lane marking disappearance point are not present on the front side of the toll gate in the forward direction of the vehicle (S21: NO) To S25.

  In S <b> 22, the CPU 41 sets the type of toll gate to “widening”. The set toll booth type is stored in the flash memory 44 or the like.

  Next, in S23, the CPU 41 sets a road widening point as the starting point 1. The starting point 1 is a point (change point) where the control content of the automatic driving support is changed as will be described later. Information (for example, position coordinates) for specifying the set starting point 1 is stored in the flash memory 44 or the like.

  Subsequently, in S24, the CPU 41 sets a toll gate gate point as a starting point 2 where the toll gate is installed. Note that the starting point 2 is a point (end point) where the control of the automatic driving support is ended as described later. Information (for example, position coordinates) specifying the set start point 2 is stored in the flash memory 44 or the like. Thereafter, the process proceeds to S2.

  On the other hand, in S25, the CPU 41, based on the road information acquired in S11 and the road condition detected by the camera 19 outside the vehicle, on the front side of the toll booth ahead of the traveling direction of the vehicle, It is determined whether or not there is only a lane marking disappearance point.

  If it is determined that there is only a lane marking disappearance point on the front side of the toll gate in front of the traveling direction of the vehicle (S25: YES), the process proceeds to S26. On the other hand, when it is determined that there are no road widening points and lane marking disappearance points on the front side of the toll gate in front of the traveling direction of the vehicle (S25: NO), the process proceeds to S29.

  In S <b> 26, the CPU 41 sets the type of the toll gate to “line disappearance”. The set toll booth type is stored in the flash memory 44 or the like.

  Next, in S <b> 27, the CPU 41 sets a lane marking disappearance point as the starting point 1. The starting point 1 is a point (change point) where the control content of the automatic driving support is changed as will be described later. Information (for example, position coordinates) for specifying the set starting point 1 is stored in the flash memory 44 or the like.

  Subsequently, in S28, the CPU 41 sets a toll gate gate point as a starting point 2 where the toll gate is installed. Note that the starting point 2 is a point (end point) where the control of the automatic driving support is ended as described later. Information (for example, position coordinates) specifying the set start point 2 is stored in the flash memory 44 or the like. Thereafter, the process proceeds to S2.

  On the other hand, in S <b> 29, the CPU 41 sets the type of toll gate to “no widening disappearance”. The set toll booth type is stored in the flash memory 44 or the like.

  Next, in S30, the CPU 41 sets a toll gate gate point as a starting point 1 where the toll gate is installed. The starting point 1 is a point (change point) where the control content of the automatic driving support is changed as will be described later. Information (for example, position coordinates) for specifying the set starting point 1 is stored in the flash memory 44 or the like.

  Subsequently, in S <b> 31, the CPU 41 sets a toll gate gate point as the starting point 2 as in the starting point 1. Note that the starting point 2 is a point (end point) where the control of the automatic driving support is ended as described later. Information (for example, position coordinates) specifying the set start point 2 is stored in the flash memory 44 or the like. Thereafter, the process proceeds to S2.

  Next, the sub-process of the support change process executed in S3 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program for support change processing.

  First, in S41, the CPU 41 acquires the current position of the vehicle detected by the current position detection unit 11. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology. In S41, when the vehicle travels on a road composed of a plurality of lanes, the lane in which the vehicle travels is also specified.

  Subsequently, in S42, the CPU 41 reads the point set as the starting point 2 from the flash memory 44 or the like in the above-described toll gate prefetching process (FIG. 3), and determines whether or not the vehicle has passed the starting point 2. Note that the starting point 2 corresponds to an end point at which the control of the automatic driving support is terminated as described later, and any one of the road widening point, the lane marking disappearance point, and the toll gate point is set (S17, S20, S24, S28, S31).

  And when it determines with the vehicle having passed the starting point 2 (S42: YES), it transfers to S43. On the other hand, when it is determined that the vehicle has not passed the starting point 2 (S42: NO), the process proceeds to S45.

  In S43, the CPU 41 determines that it is difficult to continue the automatic driving support and ends the automatic driving support. The automatic driving support canceled in S43 is resumed after the vehicle passes the toll gate and becomes in a state where the automatic driving support can be performed.

  Next, in S44, the CPU 41 initializes (resets) the type of the toll gate set in the above-described toll gate prefetching process (FIG. 3). Thereafter, the automatic driving support program ends.

  On the other hand, in S45, the CPU 41 reads the point set as the starting point 1 from the flash memory 44 or the like in the above-described toll gate prefetching process (FIG. 3), and determines whether or not the vehicle has passed the starting point 1. The starting point 1 corresponds to a change point for changing the control content of the automatic driving support as will be described later, and any one of a road widening point, a lane marking disappearance point, and a toll gate point is set (S16, S19, S23). , S27, S30).

  And when it determines with the vehicle having passed the starting point 1 (S45: YES), it transfers to S46. On the other hand, when it is determined that the vehicle has not passed the starting point 1 (S45: NO), the automatic driving support program is terminated without changing the control content of the automatic driving support or ending the control. . As a result, the control related to the current automatic driving support is continuously performed until it is determined that the vehicle has passed the starting point 1.

  In S46, the CPU 41 reads the toll gate type set in the toll gate prefetching process (FIG. 3) from the flash memory 44 and the like, and determines whether or not the toll gate type is set to “wide”. .

  If it is determined that the type of toll gate is set to “widening” (S46: YES), the process proceeds to S47. On the other hand, when it is determined that the type of toll gate is set to other than “widening” (S46: NO), the process proceeds to S51.

  In S47, based on the current position of the vehicle acquired in S41, the CPU 41 determines whether there are a plurality of lanes on the road on which the vehicle travels and the vehicle is traveling in the leftmost lane.

  When it is determined that there are a plurality of lanes on the road on which the vehicle is traveling and the vehicle is traveling in the leftmost lane (S47: YES), the process proceeds to S48. On the other hand, when there are a plurality of lanes on the road on which the vehicle travels and the vehicle is traveling on a lane other than the left end in particular, or the number of lanes on the road on which the vehicle currently travels is only one (S47: If NO, the process proceeds to S49.

  In S48, the CPU 41 determines the content of the automatic driving support performed in the vehicle from “the lane maintaining travel performed based on the left and right lane markings” based on only the right lane marking on the side opposite to the widening side. Change to “Lane maintenance run”.

  Here, with regard to automatic driving assistance related to lane keeping travel, in the normal state, the lane markings on the left and right sides of the vehicle are detected, and the vehicle travel position is set so that the distances to the lane markings on the left and right sides are equal. By adjusting, it controls so that it may drive | work the center vicinity of a lane. For example, in the example shown in FIG. 9, when the vehicle 51 travels in the leftmost lane, before the road widening point X is passed, the roadway outer line 54 that is the left lane line of the vehicle 51 and the right side lane of the vehicle 51 Automatic driving support related to lane keeping running is performed using the lane boundary line 53 that is a line.

  However, as shown in FIG. 9, when the vehicle passes through the road widening point X and the width of the lane is widened, the roadway outer line 54, which is the left lane marking of the vehicle 51, is located far away from the vehicle 51. In the control content, the automatic driving support related to the lane keeping running cannot be appropriately performed. Therefore, the automatic driving support related to the lane keeping running is performed using only the lane boundary line 53 that is the lane marking on the right side (the side opposite to the widening side) of the vehicle 51. Specifically, the travel position of the vehicle is adjusted so that the distance from the lane boundary line 53 is an appropriate distance (for example, 50 cm). As a result, even when the lane width is widened, it is possible to continue the automatic driving support related to lane maintenance.

  When the change of the control content of the automatic driving support is determined in S48, the CPU 41 transmits an instruction regarding the change to the vehicle control ECU 20, and the control content of the automatic driving support is changed. Thereafter, the control related to the current automatic driving support is continuously performed until it is determined that the vehicle has passed the starting point 2.

  On the other hand, in S49, the CPU 41 determines, based on the current position of the vehicle acquired in S41, whether there are a plurality of lanes on the road on which the vehicle is traveling and whether the vehicle is traveling in the rightmost lane. To do.

  When it is determined that there are a plurality of lanes on the road on which the vehicle is traveling and the vehicle is traveling in the rightmost lane (S49: YES), the process proceeds to S50. On the other hand, when there are a plurality of lanes on the road on which the vehicle travels and the vehicle is traveling on a lane other than the right end in particular, or the number of lanes on the road on which the vehicle currently travels is only one (S49: (NO), it transfers to S43.

  In S43, it is determined that it is difficult to continue the automatic driving support as described above, and the automatic driving support is terminated.

  In S50, the CPU 41 determines the content of the automatic driving support performed in the vehicle from “the lane keeping running performed based on the left and right lane markings” based only on the left lane marking on the side opposite to the widening side. Change to “Lane maintenance run”.

  For example, in the example shown in FIG. 10, when the vehicle 51 travels in the rightmost lane, before passing the road widening point X, the roadway outer line 55 that is the right lane line of the vehicle 51 and the left side lane of the vehicle Automatic driving support related to lane keeping running is performed using the lane boundary line 53 that is a line. However, when the vehicle passes through the road widening point X and the width of the lane is widened, the roadway outer line 55, which is the right lane marking of the vehicle 51, becomes far away from the vehicle 51, and the lane maintaining travel is performed under normal control contents. Autonomous driving support related to cannot be performed properly. Therefore, the automatic driving support related to the lane keeping running is performed using only the lane boundary line 53 which is the lane marking on the left side (the side opposite to the side where the width is widened) of the vehicle 51. Specifically, the travel position of the vehicle is adjusted so that the distance from the lane boundary line 53 is an appropriate distance (for example, 50 cm). As a result, even when the lane width is widened, it is possible to continue the automatic driving support related to lane maintenance.

  When the change of the control content of the automatic driving support is determined in S50, the CPU 41 transmits an instruction regarding the change to the vehicle control ECU 20, and the control content of the automatic driving support is changed. Thereafter, the control related to the current automatic driving support is continuously performed until it is determined that the vehicle has passed the starting point 2.

  On the other hand, in S51, the CPU 41 reads the toll gate type set in the above-described toll gate prefetching process (FIG. 3) from the flash memory 44 or the like, and determines whether the toll gate type is set to “line loss”. Determine.

  If it is determined that the type of toll gate is set to “line loss” (S51: YES), the process proceeds to S52. On the other hand, when it is determined that the type of toll gate is not set to “line disappearance” (S51: NO), the automatic driving support program is terminated.

  In S52, based on the current position of the vehicle acquired in S41, the CPU 41 has a plurality of lanes on the road on which the vehicle travels and the vehicle is traveling in the leftmost lane (that is, on the right side of the vehicle). It is determined whether or not only a certain lane line has disappeared.

  When it is determined that there are a plurality of lanes on the road on which the vehicle is traveling and the vehicle is traveling in the leftmost lane (S52: YES), the process proceeds to S53. On the other hand, when the number of lanes on the road on which the vehicle travels is plural and the vehicle is traveling on a lane other than the left end in particular, or the number of lanes on the road on which the vehicle currently travels is only one (S52: (NO), the process proceeds to S54.

  In S53, the CPU 41 changes the contents of the automatic driving support performed in the vehicle from “lane maintaining travel performed based on the left and right lane markings” to “lane maintaining travel performed based only on the left lane marking”. Change to

  Here, with regard to automatic driving assistance related to lane keeping travel, in the normal state, the lane markings on the left and right sides of the vehicle are detected, and the vehicle travel position is set so that the distances to the lane markings on the left and right sides are equal. By adjusting, it controls so that it may drive | work the center vicinity of a lane. For example, in the example shown in FIG. 11, when the vehicle 51 travels in the leftmost lane, before the vehicle 51 passes the lane marking disappearance point Y, the roadway outer line 54 that is the lane marking on the left side of the vehicle 51 and the right side of the vehicle Automatic driving support related to lane keeping running is performed using the lane boundary line 53 that is a lane marking.

  However, as shown in FIG. 11, when the vehicle passes through the lane marking disappearance point Y and the lane boundary line 53 disappears, the reference lane marking disappears on the right side of the vehicle 51, and the normal control content relates to the lane maintenance running. Automatic driving support cannot be performed properly. Therefore, automatic driving support related to lane keeping running is performed using only the roadway outer line 54 that is the remaining lane marking on the left side of the vehicle 51. Specifically, the travel position of the vehicle is adjusted so that the distance from the roadway outer line 54 is an appropriate distance (for example, 50 cm). As a result, even when the lane marking that divides the lane has disappeared, it is possible to continuously perform the automatic driving support for maintaining the lane.

  When the change of the control content of the automatic driving support is determined in S53, the CPU 41 transmits an instruction regarding the change to the vehicle control ECU 20, and the control content of the automatic driving support is changed. Thereafter, the control related to the current automatic driving support is continuously performed until it is determined that the vehicle has passed the starting point 2.

  On the other hand, in S54, based on the current position of the vehicle acquired in S41, the CPU 41 determines whether there are a plurality of lanes on the road on which the vehicle is traveling and whether the vehicle is traveling in the rightmost lane (that is, whether or not the vehicle is traveling in the rightmost lane). Only the lane marking on the left side of the vehicle has disappeared).

  When it is determined that there are a plurality of lanes on the road on which the vehicle is traveling and the vehicle is traveling in the rightmost lane (S54: YES), the process proceeds to S55. On the other hand, when there are a plurality of lanes on the road on which the vehicle travels and the vehicle is traveling on a lane other than the right end in particular, or the number of lanes on the road on which the vehicle currently travels is only one (S54: NO), the lane markings on both the left and right sides of the vehicle will disappear, and it is determined that it is difficult to continue the automatic driving support related to the lane keeping traveling, and the routine proceeds to S56.

  In S55, the CPU 41 changes the content of the automatic driving support performed in the vehicle from “lane maintaining travel performed based on the left and right lane markings” to “lane maintaining travel performed only based on the remaining right lane marking”. Change to

  For example, in the example shown in FIG. 13, when the vehicle 51 travels in the rightmost lane, before passing the lane marking disappearance point Y, the roadway outer line 55 that is the lane marking on the right side of the vehicle 51 and the left side of the vehicle Automatic driving support related to lane keeping running is performed using the lane boundary line 53 that is a lane marking. However, if the vehicle passes through the lane line disappearance point Y and the lane boundary line 53 disappears, the reference lane line disappears on the left side of the vehicle 51, and automatic driving support related to lane maintenance traveling is appropriately performed under normal control content. I can't do it. Therefore, the automatic driving support related to the lane keeping running is performed using only the roadway outer line 55 that is the remaining lane marking on the right side of the vehicle 51. Specifically, the travel position of the vehicle is adjusted so that the distance from the roadway outer line 55 is an appropriate distance (for example, 50 cm). As a result, even when the lane marking that divides the lane has disappeared, it is possible to continuously perform the automatic driving support for maintaining the lane.

  When the change of the control content of the automatic driving support is determined in S55, the CPU 41 transmits an instruction regarding the change to the vehicle control ECU 20, and the control content of the automatic driving support is changed. Thereafter, the control related to the current automatic driving support is continuously performed until it is determined that the vehicle has passed the starting point 2.

  In S56, the CPU 41 determines that it is difficult to continue the automatic driving support, and ends the automatic driving support. Note that the automatic driving support canceled in S56 is resumed after the vehicle passes the toll gate and becomes in a state where the automatic driving support can be performed.

  Next, in S57, the CPU 41 initializes (resets) the type of the toll gate set in the above-described toll gate prefetching process (FIG. 3). Thereafter, the automatic driving support program ends.

  As described above in detail, in the navigation apparatus 1 according to the present embodiment, and the computer program executed by the navigation apparatus 1, in the state where the automatic driving support related to the lane keeping running is being implemented, the toll is ahead in the traveling direction of the vehicle. If there is a toll booth, identify the lane marking disappearance point, which is the point where either the left or right of the lane line disappears, and the road widening point, which is the point where the width of the lane where the vehicle travels, widens If there is a toll gate in front of the direction of travel of the vehicle, either the lane marking disappearance point or the road widening point, the change point for changing the control content of the automatic driving support related to the lane maintenance running or the end to finish the control (S16, S17, S19, S20, S23, S24, S27, S28, S30, S31) Even if there is, it becomes possible to perform driving by the automatic driving assistance continuously as possible. Specifically, of the left and right lane markings that serve as the reference for lane maintenance travel, even if one lane line disappears or is far away, it is related to lane maintenance travel based on the remaining lane markings. Automatic driving support can be continued.

  Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.

  For example, in the present embodiment, the lane change is configured to be performed manually by the user even while the automatic driving support is being performed, but the lane change may be automatically performed based on the automatic driving support. Further, it may be configured to be able to implement right / left turn, stop, start, etc. with automatic driving support.

  Further, in the present embodiment, the lane marking disappearance point, which is the point where the lane marking disappears, and the road widening point, which is the point where the width of the lane on which the vehicle travels, are specified, respectively, and the control content of the automatic driving support is changed. Although it is set as the end point which complete | finishes a change point and control of automatic driving assistance (S13-S31), it is good also as a structure which specifies only a lane marking disappearance point or only a road widening point. In that case, the processing of S13 to S20 is omitted.

  Further, in this embodiment, the road widening point X is a point where the lane width starts to widen (FIG. 4), but if the lane width is between the point where the widening starts and the point where the widening ends, It may be another point. Further, the toll gate gate point Z does not necessarily have to be a position where the toll gate is located, and may be a starting position of the toll gate.

  In the present embodiment, the vehicle control ECU 20 automatically controls all of the accelerator operation, the brake operation, and the handle operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle, without depending on the driving operation of the user. It has been explained as an automatic driving support for running. However, the vehicle control ECU 20 may control the automatic driving support by controlling at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the operations of the vehicle. On the other hand, manual driving by the user's driving operation will be described as a case where the user performs all of the accelerator operation, the brake operation, and the steering wheel operation, which are operations relating to the behavior of the vehicle, among the vehicle operations.

  In the present embodiment, the navigation device 1 executes the automatic driving support program (FIG. 2), but the vehicle control ECU 20 may execute the automatic driving support program (FIG. 2). In this case, the vehicle control ECU 20 is configured to acquire a map matching result, map information, and the like from the navigation device 1.

  In addition to the navigation device, the present invention can be applied to a device having a route search function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-mentioned automatic driving support program (FIG. 2) may be configured to be implemented by either a server or a portable terminal. However, when the present invention is applied to a portable terminal or the like, it is necessary that the vehicle capable of performing automatic driving support and the portable terminal or the like be connected so as to be communicable (wired wireless is not a problem).

  Moreover, although the embodiment which actualized the automatic driving assistance device according to the present invention has been described above, the automatic driving assistance device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A lane line detection means for detecting a lane line (53, 54, 55) that divides a lane in which the vehicle (51) travels, and a lane maintaining travel of the vehicle based on the lane line detected by the lane line detection means Driving assistance means (13) that performs automatic driving assistance according to the above, and a lane line disappearance point or a lane on which the vehicle travels, which is a point where either the left or right of the lane line disappears on the front side in the traveling direction of the toll gate A road specifying point (13) for specifying a road widening point that is a point where the width is widened, and the driving support means has the lane marking disappearance point when there is a toll gate ahead of the traveling direction of the vehicle. Alternatively, any one of the road widening points is set as a change point for changing the control content of the automatic driving support related to the lane keeping traveling or an end point for ending the control.
According to the automatic driving support device having the above-described configuration, even if there is a toll gate ahead of the traveling direction of the vehicle, it is possible to continue traveling with automatic driving support as much as possible. Specifically, even if one of the left and right lane markings that serve as the reference for maintaining the lane is lost or moved far away, the remaining lanes can be changed by changing the control details. Based on the line, it is possible to continuously perform the automatic driving support related to the lane keeping traveling.

The second configuration is as follows.
The driving support means (13) has a toll gate (52) in front of the vehicle (51) in the traveling direction, and the lane marking disappearance point and the road widening point are in front of the toll gate in the traveling direction. If there is, the point on the front side in the traveling direction among the lane marking disappearance point and the road widening point is set as the change point, and the other point is set as the end point.
According to the automatic driving support device having the above configuration, the control content is changed even when one lane line disappears or is far away from the left and right lane markings that are used as a reference for lane keeping running. By doing so, it becomes possible to continue to perform the automatic driving support related to the lane keeping running based on the remaining lane markings. And if both the left and right lane markings disappear after that, or if it becomes difficult to carry out automatic driving support related to lane maintenance traveling by leaving far away, it is possible to appropriately terminate automatic driving support Become.

The third configuration is as follows.
The driving support means (13) has a toll gate (52) in front of the vehicle (51) in the traveling direction, and the lane marking disappearance point is on the front side in the traveling direction of the toll gate. When there is no widening point, the lane marking disappearance point is set as the change point, and the toll gate is set as the end point.
According to the automatic driving assistance device having the above-described configuration, even if one of the left and right lane markings serving as a reference for performing lane maintenance traveling is lost, by changing the control content, Based on the lane marking, it is possible to continuously perform the automatic driving support related to the lane keeping running. The automatic driving support can be appropriately terminated when the vehicle reaches the toll gate, that is, when the lane marking completely disappears.

The fourth configuration is as follows.
The driving support means (13) includes a toll gate (52) in front of the vehicle (51) in the traveling direction, and the road widening point is on the front side in the traveling direction of the toll gate. When there is no vanishing point, the road widening point is set as the change point, and the toll gate is set as the end point.
According to the automatic driving support device having the above-described configuration, even if one of the lane markings that is the reference for performing lane maintenance traveling is far away, by changing the control content, Based on the remaining lane markings, it is possible to continue to perform automatic driving support related to lane keeping running. The automatic driving support can be appropriately terminated when the vehicle reaches the toll gate, that is, when the lane marking completely disappears.

The fifth configuration is as follows.
The driving support means (13) performs automatic driving support related to the lane keeping travel based on the left and right lane markings (53, 54, 55) until the vehicle (51) passes the change point, From the time when the vehicle (51) passes through the change point to the time when the vehicle passes through the end point, automatic driving support related to the lane keeping running is performed based on a lane marking on one side.
According to the automatic driving support device having the above-described configuration, even if one lane line disappears or is far away from the left and right lane markings that are used as a reference for maintaining the lane, the remaining one By changing to the control based only on the lane marking, it becomes possible to continuously perform the automatic driving support related to the lane keeping running.

The sixth configuration is as follows.
In the case where the lane marking disappearance point is set as the change point, the driving support means (13) is configured to remain on one side after the vehicle passes the change point and passes the end point. Based on the line, automatic driving assistance related to the lane keeping running is performed.
According to the automatic driving support device having the above configuration, even if one lane line disappears among the left and right lane lines that are the reference for performing lane keeping travel, only the remaining one lane line is used as a reference. By changing to such control, it becomes possible to continuously perform automatic driving support related to lane keeping running.

The seventh configuration is as follows.
When the road widening point is set as the change point, the driving support means (13) widens the lane until the vehicle passes the change point and passes the end point. Based on the lane marking on the side opposite to the side, automatic driving support related to the lane keeping running is performed.
According to the automatic driving assistance device having the above configuration, even if one lane line is far away from the left and right lane lines that are the reference for performing lane keeping travel, only the remaining one lane line is used. By changing to the reference control, it is possible to continuously perform automatic driving support related to lane keeping running.

1 Navigation device 13 Navigation ECU
14 Operation unit 15 Liquid crystal display 41 CPU
42 RAM
43 ROM
51 Vehicle 52 Tollgate 53 Lane boundary 54, 55 Roadway outside line

Claims (8)

Lane marking detection means for detecting a lane marking that divides the lane in which the vehicle travels;
Driving assistance means for performing automatic driving assistance related to lane keeping running of the vehicle based on the lane line detected by the lane line detection means;
Point identification that identifies a lane marking disappearance point where either the left or right of the lane line disappears or a road widening point where the width of the lane on which the vehicle travels widens on the front side of the toll booth Means,
The driving support means changes the control content of the automatic driving support related to the lane keeping traveling at either the lane marking disappearance point or the road widening point when there is a toll gate ahead of the vehicle in the traveling direction. An automatic driving support device that is set as a change point or an end point at which control ends. The driving support means includes
If there is a toll gate ahead of the vehicle in the traveling direction, and the lane marking disappearance point and the road widening point are in front of the toll gate in the traveling direction, the lane marking disappearance point and the road widening point The automatic driving assistance device according to claim 1, wherein one point on the front side in the traveling direction is set as the change point, and the other point is set as the end point. The driving support means includes
If there is a toll gate ahead of the vehicle in the traveling direction, and the lane marking disappearance point is in front of the toll gate in the traveling direction and there is no road widening point, the lane marking disappearance point is changed. The automatic driving support device according to claim 1, wherein the automatic driving support device is set as a point and the toll gate is set as the end point. The driving support means includes
When there is a toll gate ahead of the vehicle in the traveling direction, and the road widening point is on the front side of the toll gate in the traveling direction and there is no lane marking disappearance point, the road widening point is changed to the change point. The automatic driving support device according to claim 1, wherein the toll gate is set as the end point. The driving support means includes
Until the vehicle passes the change point, based on the lane markings on the left and right sides, automatic driving support for the lane maintenance running,
5. The automatic driving support according to any one of claims 1 to 4, wherein automatic driving support related to the lane keeping running is performed based on a lane marking on one side after the vehicle passes the change point and passes the end point. Automatic driving support device. The driving support means includes
When the lane marking disappearance point is set as the change point, the lane keeping running is performed based on the lane line on one side remaining after the vehicle passes the change point and passes the end point. The automatic driving assistance device according to claim 5, wherein the automatic driving assistance is performed. The driving support means includes
When the road widening point is set as the change point, the lane line on the opposite side to the side where the lane width is widened until the vehicle passes the change point and passes the end point. The automatic driving assistance device according to claim 5, wherein automatic driving assistance related to the lane keeping running is performed based on the driving lane maintenance driving. Computer
Lane marking detection means for detecting a lane marking that divides the lane in which the vehicle travels;
Driving assistance means for performing automatic driving assistance related to lane keeping running of the vehicle based on the lane line detected by the lane line detection means;
Point identification that identifies a lane marking disappearance point where either the left or right of the lane line disappears or a road widening point where the width of the lane on which the vehicle travels widens on the front side of the toll booth A computer program for functioning as a means,
The driving support means changes the control content of the automatic driving support related to the lane keeping traveling at either the lane marking disappearance point or the road widening point when there is a toll gate ahead of the vehicle in the traveling direction. A computer program set as a change point or an end point to end control.

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