JP4962865B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device, and more specifically, by reducing a driving load by presenting a driving index so that the user can easily see even when driving on a narrow road without a driving index. The present invention relates to a driving support device that supports driving.

Conventionally, a virtual road corresponding to a road on which the vehicle actually travels is displayed on the vehicle head-up display, and a virtual travel index that should be on the virtual road, for example, a virtual center line, is displayed to assist the user in driving. A technique has been proposed (see, for example, Patent Document 1).
JP 2005-145434 A

  However, in the conventional technology described above, the vehicle must be driven by comparing the actual road seen in front of the windshield with the virtual road displayed on the vehicle head-up display. As a result, it becomes difficult to concentrate on driving, and a driving load is imposed on the user particularly on a narrow road with no driving index.

  The present invention has been made in view of the above problems. That is, even when driving on a narrow road without a travel indicator, a driving support device that assists the user's driving by providing a travel indicator so that the user can easily see it and reducing the driving load is provided. With the goal.

An aspect of the present invention is directed to a driving support device that performs driving support for a user traveling on a road with a vehicle. The present invention includes an imaging unit that images the front of a vehicle, a centerline presence / absence determination unit that determines the presence / absence of a centerline on a running road from a captured image captured by the imaging unit, and a centerline presence / absence determination unit that is running A travel indicator position estimation unit that estimates the center position of the left and right road edges of the traveling road as the position of the virtual centerline that should be on the traveling road when it is determined that there is no center line on the road, A traveling index drawing unit that draws the virtual center line by projecting light onto a position on the road that is being traveled estimated by the running index position estimation unit;

  Thus, even when traveling on a narrow road without a center line, a driving support device that supports the user's driving is provided by reducing the driving load by presenting the center line so that the user can easily see it. be able to.

  Moreover, it is preferable that a driving | running | working parameter | index description part erase | eliminates a virtual center line, when a vehicle speed is more than predetermined value.

  As a result, the depiction of the virtual center line makes it easier to drive and even when the vehicle speed increases. it can.

  Moreover, it is preferable that a driving | running | working parameter | index description part erase | eliminates a virtual center line, when a road width is below a predetermined distance.

  Thereby, on a narrow road, by deleting the depicted virtual center line, the user travels with caution, so the risk of an accident can be reduced.

  Moreover, it is preferable that a driving | running | working index description part draws a virtual driving | running | working line by projecting light to the position on the road in driving | running which the driving | running | working index position estimation part estimated.

  Thus, even when driving on a narrow road, a driving support device that supports the user's driving can be provided by reducing the driving load by presenting a virtual driving line so that the user can easily see it. .

  The centerline presence / absence determination unit sets an expected travel line of the vehicle on the captured image captured by the image capturing unit, and there is no line more than a predetermined distance on the right and left with respect to the right-side line closest to the predicted travel line. In this case, it is preferable to determine that there is no center line on the running road.

  Thereby, the presence or absence of the center line can be reliably determined from the captured image of the road.

  The centerline presence / absence determination unit sets an expected travel line of the vehicle on the captured image captured by the imaging unit, and there is no line more than a predetermined distance on the left and right with respect to the leftmost line nearest to the predicted travel line. In this case, it is preferable to determine that there is no center line on the running road.

  Thereby, the presence or absence of the center line can be reliably determined from the captured image of the road.

  Moreover, the map data storage part which memorize | stores map data, and the positioning part which measures the present location of a vehicle are further provided, and a centerline presence determination part is information which shows that there is no centerline in the present location of the vehicle which the positioning part measured Is obtained from the map data storage unit, it is preferable to determine that there is no center line on the road that is running.

  Thereby, the presence or absence of the center line of the road that is currently traveling can be reliably determined from the map data.

  As described above, according to the present invention, even when the vehicle travels on a narrow road without a travel indicator, the travel indicator is presented so that the user can easily see and the driving load is reduced. It is possible to provide a driving support device that supports the vehicle.

(First embodiment)
Hereinafter, the driving support apparatus according to the first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing an overall configuration of a driving support apparatus 100 according to the first embodiment of the present invention. In FIG. 1, the driving support apparatus 100 includes an imaging unit 101, a centerline presence / absence determination unit 102, a travel index position estimation unit 103, and a travel index depiction unit 104.

  The imaging unit 101 is, for example, a camera that images the front of the vehicle.

  The centerline presence / absence determining unit 102 detects a road edge and a white line by image processing from a road image ahead of the vehicle imaged by the imaging unit 101. In addition, when a predicted travel line of a vehicle is set on the road image and there is no line more than a predetermined distance on the left and right with respect to the right-side line closest to the predicted travel line, there is no center line on the traveling road Is determined. In a country where the right side is a road, when the expected travel line of the vehicle is set on the road image and there is no line more than a predetermined distance on the left and right with respect to the line on the left side nearest to the predicted travel line, It may be determined that there is no center line on the running road.

  The travel index position estimation unit 103 detects a road edge by image processing from a road image ahead of the vehicle imaged by the imaging unit 101. Further, the center position of the detected left and right road edges is estimated as the position of the virtual center line that should be on the road that is running.

  The travel index depiction unit 104 is, for example, a laser projector that depicts a virtual center line by projecting a laser beam to a position on the real road estimated by the travel index position estimation unit 103.

  Hereinafter, the operation of the driving support apparatus 100 according to the first embodiment of the present invention will be described with reference to the flowchart of FIG.

  First, the imaging unit 101 images the front of the vehicle (step S201). Next, the centerline presence / absence determination unit 102 detects a road edge and a white line by image processing from a road image ahead of the vehicle imaged by the imaging unit 101 (step S202).

  Next, the centerline presence / absence determination unit 102 sets the predicted travel line of the vehicle on the road image in front of the vehicle imaged by the imaging unit 101, and a predetermined distance to the left and right with respect to the right-side line closest to the predicted travel line. It is determined whether or not there is no center line on the running road by determining whether or not there is the above line (step S203). Thereby, the presence or absence of the center line can be reliably determined from the captured image of the road.

  If it is determined in step S203 that there is a center line, the process ends. On the other hand, if it is determined in step S203 that there is no center line, the travel index position estimating unit 103 detects the road edge by image processing from the road image ahead of the vehicle imaged by the imaging unit 101, and the detected left and right roads The center position of the end is estimated as the position of the virtual center line that should be on the running road (step S204).

  Next, the travel index depiction unit 104 depicts a virtual center line as shown in FIG. 3 by projecting a laser beam onto the position on the real road estimated by the travel index position estimation unit 103 (step S205). ).

  As described above, according to the present invention, even when driving on a narrow road without a travel indicator, the virtual center line is presented so that the user can easily see and the driving load is reduced. A driving support device to assist can be provided.

  In addition, the driving | running | working parameter | index description part 104 is good also as a structure which erase | eliminates a virtual center line, when a vehicle speed is more than predetermined value. As a result, the depiction of the virtual center line makes it easier to drive and even when the vehicle speed increases. it can.

  Moreover, the driving | running | working parameter | index description part 104 is good also as a structure which erase | eliminates a virtual center line, when a road width is below a predetermined distance. Thereby, on a narrow road, by deleting the depicted virtual center line, the user travels with caution, so the risk of an accident can be reduced.

(Second Embodiment)
Hereinafter, a driving support apparatus according to a second embodiment of the present invention will be described in detail with reference to the drawings. Note that the description of the same configuration as that of the first embodiment is omitted.

  FIG. 5 is a block diagram showing the overall configuration of the driving support apparatus 100 according to the second embodiment of the present invention. In FIG. 5, the driving support apparatus 100 includes an imaging unit 101, a centerline presence / absence determination unit 102, a travel index position estimation unit 103, a travel index description unit 104, a map data storage unit 105, and a positioning unit 106.

  The map data storage unit 105 is, for example, an HDD, a DVD, or a flash memory in which map data such as road data, intersection data, symbol data, and center line data is stored.

  The positioning unit 106 includes a GPS (Global Positioning System) receiver, a gyro sensor, and a speed sensor.

  The GPS receiver receives signals transmitted from GPS satellites managed by the United States from four or more satellites, and calculates the absolute position, velocity, direction, and the like on the earth by obtaining the distances. The gyro sensor detects the angular velocity of the object.

  In navigation devices, vibratory gyros using Coriolis force are widely used. A vehicle speed pulse is used for the speed sensor. The vehicle speed pulse is used to detect the rotation of the tire and is widely used in vehicles for the purpose of ABS (Anti Lock Bracket System). In the navigation device, the output pulse is multiplied by a certain coefficient to obtain a speed ( (Distance).

  The unit in which pulses are output varies depending on the car manufacturer and car model. Furthermore, since the coefficient slightly differs depending on the tire diameter and air pressure, the coefficient is corrected using the output result of the GPS receiver or the like. The GPS receiver can specify an absolute position on the earth, but is greatly affected by the reception environment from the positioning principle of measuring the propagation distance from the satellite.

  For example, in a high-rise building area, a signal from a satellite is affected by reflection on the building, so that the position may be greatly shifted. In the first place, since a signal from a satellite cannot be received in a tunnel or the like, the position cannot be calculated.

  On the other hand, the gyro sensor and the speed sensor are sensors that detect the relative movement of the vehicle, and are hardly affected by the external environment. Therefore, the absolute position can be obtained by integrating the relative movement and adding it to the initial value. Although accurate results are expected for a short time, since it is necessary to calculate the position by integrating the angular velocity and velocity, the error is integrated and accumulated.

  Therefore, the output of the gyro sensor or speed sensor cannot be used for a long time. The positioning unit 106 comprehensively calculates the current location of the vehicle by utilizing the features of the GPS receiver, the gyro sensor, and the speed sensor.

  Hereinafter, the operation of the driving support apparatus 100 according to the second embodiment of the present invention will be described with reference to the flowchart of FIG.

  First, the imaging unit 101 images the front of the vehicle (step S501). Next, the centerline presence / absence determination unit 102 detects a road edge by image processing from the road image ahead of the vehicle imaged by the imaging unit 101 (step S502). Next, the positioning unit 106 acquires the current location of the vehicle (step S503).

  Next, the centerline presence / absence determination unit 102 acquires information representing the presence / absence of the centerline on the road at the current location measured by the positioning unit 106 from the map data storage unit 105 (step S504).

  Further, the centerline presence / absence determination unit 102 determines whether or not there is a centerline on the running road based on the information indicating the presence / absence of the centerline acquired from the map data storage unit 105 (step S505). That is, when information indicating that there is a center line is acquired from the map data storage unit 105, it is determined that there is a center line, and when information indicating that there is no center line is acquired, it is determined that there is no center line. Thereby, the presence or absence of the center line of the road that is currently traveling can be reliably determined from the map data.

  If it is determined in step S505 that there is a center line, the process ends. On the other hand, if it is determined in step S505 that there is no center line, the travel index position estimation unit 103 detects the road edge by image processing from the road image ahead of the vehicle imaged by the imaging unit 101, and the detected left and right roads The center position of the end is estimated as the position of the virtual center line that should be on the running road (step S506).

  Next, the travel index depiction unit 104 depicts a virtual center line by projecting a laser beam onto the position on the real road estimated by the travel index position estimation unit 103 (step S507).

  As described above, according to the present invention, even when driving on a narrow road without a travel indicator, the virtual center line is presented so that the user can easily see and the driving load is reduced. A driving support device to assist can be provided.

  In each of the above embodiments, the example in which the virtual center line is depicted has been described. However, the present invention is not limited to the virtual center line, and as illustrated in FIG. 6, the travel index depiction unit 104 depicts the virtual travel line. Also good. Thus, even when driving on a narrow road, a driving support device that supports the user's driving can be provided by reducing the driving load by presenting a virtual driving line so that the user can easily see it. .

  The configuration described in the above embodiment is merely a specific example and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  Even when traveling on a narrow road without a travel indicator, it is useful as a driving support device or the like that assists the user's driving by presenting the travel indicator so that the user can easily see it and reducing the driving load.

The block diagram which shows the whole structure of the driving assistance device which concerns on the 1st Embodiment of this invention. The flowchart which shows operation | movement of the driving assistance apparatus which concerns on the 1st Embodiment of this invention. Schematic diagram showing a state where a virtual center line is depicted on a real road The block diagram which shows the whole structure of the driving assistance device which concerns on the 2nd Embodiment of this invention. The flowchart which shows operation | movement of the driving assistance device which concerns on the 2nd Embodiment of this invention. Schematic diagram showing a state where a virtual travel line is depicted on a real road

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Driving assistance apparatus 101 Imaging part 102 Centerline presence determination part 103 Traveling index position estimation part 104 Traveling index description part 105 Map data storage part 106 Positioning part

Claims (7)

A driving support device for supporting driving of a user traveling on a road with a vehicle,
An imaging unit that images the front of the vehicle;
A centerline presence / absence determining unit for determining the presence / absence of a centerline on a running road from a captured image captured by the imaging unit;
When the centerline presence / absence determining unit determines that there is no centerline on the traveling road, the center position of the left and right road edges of the traveling road is set as the position of the virtual centerline that should be on the traveling road. A running index position estimating unit to estimate;
A driving support device comprising: a driving index drawing unit that draws the virtual center line by projecting light onto a position on the road that is being estimated, which is estimated by the driving index position estimation unit. The driving support device according to claim 1 , wherein the travel index drawing unit erases the virtual center line when the vehicle speed is equal to or higher than a predetermined value. The traveling index representation unit, when the road width is the predetermined distance or less, characterized by erasing the virtual center line, the driving support apparatus according to claim 1.   2. The driving according to claim 1, wherein the travel index depiction unit depicts a virtual travel line by projecting light onto a position on the road that is being traveled estimated by the travel index position estimation unit. Support device. The centerline presence / absence determination unit sets an expected travel line of the vehicle on the captured image captured by the imaging unit, and there is no line more than a predetermined distance on the right and left with respect to the right-side line closest to the predicted travel line. In this case, it is determined that there is no center line on the running road. The driving support device according to any one of claims 1 to 4 . The centerline presence / absence determining unit sets an expected travel line of the vehicle on the captured image captured by the imaging unit, and there is no line more than a predetermined distance on the left and right with respect to the leftmost line nearest to the predicted travel line. In this case, it is determined that there is no center line on the running road. The driving support device according to any one of claims 1 to 4 . A map data storage unit for storing map data;
A positioning unit that measures the current location of the vehicle,
The centerline presence / absence determination unit determines that there is no centerline on the traveling road when information indicating that there is no centerline at the current location of the vehicle measured by the positioning unit is obtained from the map data storage unit. The driving support device according to any one of claims 1 to 4 , wherein

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