JP4654796B2 - Vehicle driving support device - Google Patents

Description

  The present invention generally relates to a vehicle driving support device that warns or prevents a departure from a traveling lane in a vehicle, and more particularly, a lane even when an obstacle exists on the traveling lane or a white line of the traveling lane cannot be detected. It is related with the driving assistance device for vehicles which enabled it to continue driving assistance based on.

  2. Description of the Related Art Conventionally, in a vehicle, a vehicle driving support device that warns of deviation from a traveling lane is known (see, for example, Patent Document 1).

Patent Document 1 discloses a vehicle driving support device that detects a traveling lane and an obstacle, issues a warning when the vehicle departs from the lane, and suppresses the alarm when the vehicle departs from the lane to avoid the obstacle. It is disclosed.
Japanese Patent Laid-Open No. 11-66494

  However, according to the conventional apparatus described in Patent Document 1, when an obstacle is present and an obstacle is to be avoided, an alarm is not issued even if the vehicle departs from the lane. No warning is issued even if

  The present invention is for solving such problems, and driving assistance based on lanes such as lane keeping control and lane departure warning even when an obstacle exists on the lane or a white line of the lane cannot be detected. The main object is to provide a vehicle driving support device that can continue the operation.

In order to achieve the above object, the first aspect of the present invention provides:
In a vehicle, a vehicle driving support device for warning or preventing a deviation from a driving lane,
A white line detecting means for detecting a white line of the traveling lane;
Setting means for setting a virtual white line in an area where the white line is not detected by the white line detection means;
Have a, and a control means for performing predetermined control based on the virtual white line set by the detected white line and the setting means by the white line detection unit,
The setting means includes
Yes and obstacle detecting means for detecting an obstacle on the travel lane, when the obstacle is detected on a traffic lane by the obstacle detection means, and a measuring means for measuring the distance from the vehicle to the obstacle And
The setting means sets an avoiding virtual white line that forms a part of the virtual white line inside the traveling lane from the obstacle based on the distance from the host vehicle to the obstacle measured by the measuring means. This is a vehicle driving support device.

  In this first aspect, the area where the white line is not detected by the white line detecting means is, for example, an area where an obstacle such as a parked vehicle is present on the white line, or a white line rubbed off due to long-time traffic or wind and snow. This refers to areas that have been closed or areas that are not originally drawn with white lines.

  Further, in this first aspect, the control means gives an alarm when the vehicle departs from a traveling lane composed of the white line detected by the white line detection means and the virtual white line set by the setting means. B) The steering torque is applied so that the host vehicle travels substantially in the center of the travel lane composed of the white line detected by the white line detection means and the virtual white line set by the setting means.

  According to this first aspect, even if a white line cannot be detected, a virtual white line is set. Therefore, driving assistance based on lanes such as lane keeping control and lane departure warning is continued using this virtual white line. can do.

In the first aspect, the setting means sets an avoidance point on each of a plurality of straight lines respectively connecting the plurality of obstacle detection points detected by the obstacle detection means and the host vehicle. A virtual white line is set inside the plurality of avoidance points.

Here, the avoidance point, so that it can avoid the obstacle vehicle as when higher intersecting possibility of the obstacle and the own vehicle with a margin, for example, 1) the detection point of the obstacle and the vehicle The higher the relative speed is, the closer to the own vehicle, and / or 2) the shorter the distance from the own vehicle to the obstacle detection point, the closer to the own vehicle.

According to this first aspect, when there is an obstacle in the traveling lane, a virtual white line is set so as to avoid this obstacle, so driving assistance based on lanes such as lane keeping control and lane departure warning It is possible to avoid obstacles while continuing. In other words, obstacle avoidance is realized simply by continuing driving support based on the lane.

In order to achieve the above object, a third aspect of the present invention is the vehicle driving support apparatus according to the first aspect, wherein the setting means detects a moving body on a traveling lane or an oncoming lane. A moving body detecting means; and a calculating means for calculating a moving locus of the moving body when the moving body is detected on the traveling lane or on the opposite lane by the moving body detecting means. In addition, the vehicle driving support device sets a virtual white line based on the movement trajectory of the moving body.

  In the third aspect, the setting means sets a virtual white line, for example, regarding a region having a predetermined width on the left and right with the movement locus of the moving body as a center line as a traveling lane or an oncoming lane.

  According to this third aspect, even when a white line is not detected and an obstacle to be avoided is not detected, the traveling lane of the host vehicle is estimated from the preceding vehicle or the oncoming vehicle, and the lane keeping control is performed. And driving assistance based on lanes such as lane departure warnings.

  According to the present invention, driving support for a vehicle that can continue driving support based on a lane such as a lane keeping control or a lane departure warning even when an obstacle exists on the driving lane or a white line of the driving lane cannot be detected. An apparatus can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. Those skilled in the art are familiar with the basic concept, main hardware configuration, operating principle, basic control method, etc. of the lane keep assist (LKA) device and the lane departure warning (LDW) device. Since it is already known, detailed explanation is omitted.

  A vehicle driving support apparatus according to an embodiment of the present invention will be described below with reference to FIGS.

  FIG. 1 is a schematic configuration diagram of a vehicle driving support apparatus 100 according to the present embodiment. The vehicle driving support apparatus 100 uses, for example, a white line detection unit 101 that detects a white line drawn on a road as a left-right boundary line of a lane in which the host vehicle is traveling, using an image capturing device such as a CCD camera, for example. An object detection unit that detects an object around the host vehicle using a laser radar, a mini-wave radar, or the like.

  The object detection unit 102 detects both a stationary object and a moving object, and calculates the relative speed and distance between the host vehicle and the target object. In the present embodiment, the object detection unit 102 includes, in particular, a preceding vehicle, an oncoming vehicle, a guard rail outside the traveling lane, a building along the traveling lane, a central divider, a building on the central divider, and an obstacle on the traveling lane. , Etc.

  The vehicle driving support apparatus 100 further includes a control unit 103 that comprehensively controls each component of the vehicle driving support apparatus 100. The control unit 103 is, for example, an ECU (Electronic Control Unit).

  The vehicle driving support apparatus 100 further includes an alarm unit 104 that issues an alarm to a vehicle occupant (especially a driver) when the host vehicle deviates from the target lane, and the host vehicle is an abbreviation of the target lane during lane keeping control. And a steering control unit 105 that applies a steering torque so as to travel in the center.

  Next, the operation of the vehicle driving support apparatus 100 according to this embodiment having such a configuration will be described. FIG. 2 is a flowchart showing an operation flow of the vehicle driving support apparatus 100 according to the present embodiment.

  First, the control unit 103 determines whether or not the white line detection unit 101 has detected a white line of the host vehicle traveling lane (S201).

  When the white line is detected (“YES” in S201), the lane defined by the detected white line is set as the target lane as usual (S206).

  On the other hand, when the white line is not detected to such an extent that the host vehicle traveling lane can be recognized (“NO” in S201), the control unit 103 then determines whether the presence of the preceding vehicle is detected by the object detection unit 102. (S202).

  When the preceding vehicle is detected (“YES” in S202), the control unit 103 calculates the movement locus of the preceding vehicle detected by the object detection unit 102 (S203).

  Then, the control unit 103 calculates an expected movement locus of the preceding vehicle based on the movement locus of the preceding vehicle and the traveling direction vector, and draws a virtual white line of the traveling lane based on the movement locus and the expected movement locus. The travel lane is estimated and set as the target lane (S206).

  An example of estimating the lane from the presence of the preceding vehicle is shown in FIGS. In FIG. 3, a solid line indicates a road boundary line such as a guard rail or a step, and a broken line indicates a white line position where the host vehicle A cannot be detected.

When the host vehicle A detects the rear end of the preceding vehicle B, as shown in FIG. 4, the own vehicle A calculates the movement locus T _b of the detection point P ₁ (white circle) of the preceding vehicle B and the movement vector V ₁ of the preceding vehicle B. To do. Further, the vehicle from movement track T _b and the movement vector V ₁ of the preceding vehicle B, and calculating the expected movement locus T _a of the preceding vehicle B.

Then, the own vehicle A, as shown in FIG. 5, the movement track T _b and predicted movement locus T _a of the preceding vehicle B, draw a virtual white line VL of the travel lane. This virtual white line VL, for example, drawn from the left and right ends of the movement trajectory T _b and predicted movement locus T _a of the preceding vehicle B at a position away a predetermined distance outwardly respectively.

  Furthermore, in this embodiment, the virtual white line VL is, as an example, as shown in FIG. 5, a near area relatively close to the own vehicle (for example, a range of 7 to 17 meters ahead of the own vehicle) and the near area. It is determined separately for the far region (for example, a range of 17 to 27 meters ahead of the host vehicle).

  The lane defined by the virtual white line VL set in this way is set as the target lane as the estimated travel lane.

  Returning to FIG. When the preceding vehicle is not detected (“NO” in S202), the control unit 103 then detects whether another object that can be used to estimate the lane, such as an oncoming vehicle or a guardrail, is detected by the object detection unit 102. It is determined whether or not (S204).

  If no white line is detected, no preceding vehicle is detected, and no other object that can be used for estimating the lane is detected ("NO" in S204), no special control is performed and this flow is performed. 1 routine is completed.

  On the other hand, when the white line and the preceding vehicle are not detected, but the lane can be estimated from the oncoming vehicle or the guardrail (“YES” in S204), the control unit 103 then moves the detected oncoming vehicle or guardrail. The locus and the avoidance point are calculated (S205).

  Then, the control unit 103 calculates an expected movement trajectory of the oncoming vehicle from the traveling direction vector for the oncoming vehicle, sets an avoidance point for avoiding these on the road boundary lines such as a guardrail and a step, and the expected movement By drawing a virtual white line of the travel lane based on the trajectory and the avoidance point, the travel lane is estimated and set as the target lane (S206).

  Examples of estimating the lane from the presence of the oncoming vehicle and the guard rail in this way are shown in FIGS. In FIG. 6, a solid line indicates a road boundary line such as a guardrail or a step, and a broken line indicates a white line position where the host vehicle A cannot be detected.

As shown in FIG. 7, when the own vehicle A detects the front end of the oncoming vehicle C, the own vehicle A calculates the movement vector V ₂ of the oncoming vehicle C from the movement history of the detection point P ₂ (white circle) of the oncoming vehicle C. Further, the own vehicle A, the motion vector V ₂ of the oncoming vehicle C, and calculates the expected movement locus T _a of the oncoming vehicle C.

Further, as shown in FIG. 7, when the own vehicle A detects the guardrails, the own vehicle A sets an avoidance point Z for the detection point P ₃ (white triangle) of these guardrails. Avoidance point Z, for each of the detection points P _3, it is set on a straight line connecting the own vehicle A and the detection point P _3.

The avoidance point Z is preferably set so that the own vehicle can be avoided with sufficient margin so as not to approach the guard rail extremely. Specifically, for example, a) the own vehicle A and the detection point P ₃ are uniformly set. It may be set to the midpoint of a straight line connecting, or, b) depending on the distance and the relative velocity between the detection point P ₃ between the vehicle a, the shorter the distance the vehicle a closer, and / or The higher the relative speed, the closer to the own vehicle A may be obtained by calculation.

Then, the own vehicle A, as shown in FIG. 8, draw a virtual white VL lane inside so as not to overlap with the expected movement locus T _a of the oncoming vehicle C, the virtual white line VL lane outside the lane inside the avoidance point Z pull.

  Furthermore, in the present embodiment, the virtual white line VL is, as an example, as shown in FIG. 8, a near area relatively close to the own vehicle (for example, a range of 7 to 17 meters ahead of the own vehicle) and the near area. It is determined separately for the far region (for example, a range of 17 to 27 meters ahead of the host vehicle).

  The lane defined by the virtual white line VL set in this way is set as the target lane as the estimated travel lane.

  Returning to FIG. In this way, when the control target lane is set by the detected white line and / or the set virtual white line, then the control unit 103 causes the object detection unit 102 to have an obstacle on the white line or the virtual white line. Is detected (S207). Here, the obstacle is mainly a stationary object, for example, a parked vehicle.

  If an obstacle is detected on the white line or the virtual white line (“YES” in S207), the control unit 103 then calculates an avoidance point for the detected obstacle (S208).

  And the control part 103 changes a target lane by drawing a virtual white line based on the avoidance point set with respect to the obstruction (S209).

  Examples of changing the target lane in order to avoid obstacles in this way are shown in FIGS. In FIG. 9, a solid line indicates a road boundary line such as a guardrail or a step, and a white white line L indicates a white line detected by the vehicle A or a set virtual white line position.

As shown in FIG. 10, when the own vehicle A detects an obstacle (here, the parked vehicle D) on the white line (or virtual white line), the detection point P ₂ (white circle) of the parked vehicle D and the detection point of the guardrail An avoidance point Z for P ₃ (white triangle) is set. Avoidance point Z, for each of the detection points P ₂ and P _3, are set on a straight line connecting the own vehicle A and the detection point.

The avoidance point Z is preferably set so that the own vehicle can be avoided with sufficient margin so that the own vehicle does not extremely approach the parked vehicle D. Specifically, for example, a) the own vehicle A and the detection point P are uniformly set. ₃ and may be set to the midpoint of a straight line connecting, or, b) depending on the distance and the relative velocity between the detection point P ₃ between the vehicle a, the shorter the distance the vehicle a closer, and Alternatively, it may be obtained by calculation so that the higher the relative speed, the closer to the own vehicle A.

  Next, as shown in FIG. 11, the host vehicle A draws a virtual white line VL outside the lane inside the avoidance point Z.

  Furthermore, in this embodiment, the virtual white line VL is, as an example, as shown in FIG. 11, a near area relatively close to the own vehicle (for example, a range of 7 to 17 meters ahead of the own vehicle) and the near area. It is determined separately for the far region (for example, a range of 17 to 27 meters ahead of the host vehicle).

  The lane defined by the virtual white line VL set in this way is set as the new lane as the target lane.

  Returning to FIG. As described above, even if a white line is not detected, it is estimated from the preceding vehicle or oncoming vehicle, etc., and if necessary, appropriately changed so that obstacles can be avoided if the lane is maintained In the following S210 to S213, the conventional lane departure warning process and the lane maintenance control process are performed for the target lane that has been performed.

  First, the control unit 103 determines whether or not the host vehicle has deviated from the target lane (S210). When deviating ("YES" in S210), the control unit 103 instructs the alarm unit 104 to cause the vehicle occupant to issue an alarm for alerting (S211).

  Next, the control unit 103 determines whether or not the host vehicle is in lane keeping control (S212). When the lane keeping control is being performed (“YES” in S212), the control unit 103 instructs the steering control unit 105 to perform a steering operation that requires the steering torque necessary to drive the host vehicle A substantially in the center of the target lane. The direction is given (S213).

  Thus, according to the present embodiment, when performing driving support based on a lane such as a lane keeping control or a lane departure warning, even if a white line cannot be detected for some reason, by setting a virtual white line Driving assistance based on lanes can be continued.

  In addition, according to the present embodiment, when there is an obstacle such as a parked vehicle in the traveling lane, the virtual white line is set so as to avoid the obstacle. Things can be avoided. In other words, obstacle avoidance is realized simply by continuing driving support based on the lane.

  Furthermore, according to the present embodiment, even when a white line is not detected and an obstacle or the like to be avoided is not detected, the traveling lane of the own vehicle can be estimated from the preceding vehicle or the oncoming vehicle. Therefore, driving support based on the lane can be continued.

  In the description of the above embodiment, for convenience, (a) a virtual white line is drawn using a preceding vehicle (FIGS. 3 to 5), and (a) a virtual white line is drawn using an oncoming vehicle ( 6 to 8) and (c) a case where a virtual white line is drawn (or corrected) so as to avoid an obstacle (FIGS. 9 to 11). These virtual white line setting processes do not necessarily have to be executed separately in order, and all of the moving objects and stationary objects around the host vehicle such as the preceding vehicle, the oncoming vehicle, the guardrail, and the obstacle are simultaneously and comprehensively processed. In consideration of the above, the virtual white line may be set by a single calculation process.

  Further, in the above-described embodiment, as an example of the moving body used for the virtual white line setting, a four-wheeled vehicle is specifically shown in the drawings. However, the present invention is not limited to this, and a motorcycle, a bicycle or a walking is used. Can also be used.

  Furthermore, in the above-described embodiment, a parked vehicle is taken as an example of an obstacle to be avoided. However, the present invention is not limited to this, and the vehicle is stationary on the own vehicle travel lane. Any stationary object that can affect vehicle control based on the white line of the vehicle can be targeted.

  The present invention can be used for a vehicle driving support device such as a lane keep assist device and a lane departure warning device. The appearance, weight, size, running performance, etc. of the vehicle to be mounted are not limited.

1 is a schematic configuration diagram of a vehicle driving support apparatus according to an embodiment of the present invention. It is a flowchart which shows the flow of operation | movement of the driving assistance device for vehicles which concerns on one Example of this invention. It is a figure for demonstrating the method in which the vehicle driving assistance device which concerns on one Example of this invention estimates a target lane from a preceding vehicle. It is a figure for demonstrating the method in which the vehicle driving assistance device which concerns on one Example of this invention estimates a target lane from a preceding vehicle. It is a figure for demonstrating the method in which the vehicle driving assistance device which concerns on one Example of this invention estimates a target lane from a preceding vehicle. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention estimates a target lane from an oncoming vehicle and a guardrail. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention estimates a target lane from an oncoming vehicle and a guardrail. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention estimates a target lane from an oncoming vehicle and a guardrail. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention resets a target lane for an obstacle avoidance. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention resets a target lane for an obstacle avoidance. It is a figure for demonstrating the method in which the driving assistance device for vehicles which concerns on one Example of this invention resets a target lane for an obstacle avoidance.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle drive assistance apparatus 101 White line detection part 102 Object detection part 103 Control part 104 Warning part 105 Steering control part

Claims (7)

In a vehicle, a vehicle driving support device for warning or preventing a deviation from a driving lane,
A white line detecting means for detecting a white line of the traveling lane;
Setting means for setting a virtual white line in an area where the white line is not detected by the white line detection means;
Have a, and a control means for performing predetermined control based on the virtual white line set by the detected white line and the setting means by the white line detection unit,
The setting means includes
Yes and obstacle detecting means for detecting an obstacle on the travel lane, when the obstacle is detected on a traffic lane by the obstacle detection means, and a measuring means for measuring the distance from the vehicle to the obstacle And
The setting means sets an avoiding virtual white line that forms a part of the virtual white line inside the traveling lane from the obstacle based on the distance from the host vehicle to the obstacle measured by the measuring means. A vehicle driving support device. The vehicle driving support device according to claim 1 ,
The setting means includes
An avoidance point is set on each of a plurality of straight lines respectively connecting the plurality of obstacle detection points detected by the obstacle detection means and the host vehicle,
A vehicular driving support apparatus, wherein the avoidance virtual white line is set inside the plurality of avoidance points. The vehicle driving support device according to claim 2 ,
The avoidance point is set closer to the host vehicle as the relative speed between the obstacle detection point and the host vehicle is larger. A vehicle driving support device according to claim 2 or 3 ,
The avoidance point is set closer to the host vehicle as the distance from the host vehicle to the obstacle detection point is shorter. A vehicle driving support device according to any one of claims 1 to 4 ,
The setting means includes
A moving body detecting means for detecting a moving body on the traveling lane or on the opposite lane, and when the moving body is detected on the traveling lane or on the opposite lane by the moving body detecting means, the movement locus of the moving body is calculated. Calculating means,
A vehicle driving support device, wherein a portion other than the avoidance virtual white line is set in the virtual white line based on the movement locus of the moving body calculated by the calculation means. A vehicle driving support device according to any one of claims 1 to 5 ,
It said control means, driving the vehicle which the vehicle emits an alarm when deviating from the driving lane consisting of set the virtual white line by the detected white line and the setting means by the white line detection unit, characterized in that Support device. The vehicle driving support device according to any one of claims 1 to 6 ,
Said control means, wherein the vehicle has a steering torque imparted to travel substantially the center of the traffic lane consisting of the virtual white line that has been set by the detected white line and the setting means by the white line detection means, it A vehicle driving support device.

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