JP6487776B2 - Lane departure warning device - Google Patents

Description

  The present invention relates to a lane departure warning device for warning a lane departure of a vehicle.

  As a lane departure warning device that warns of a lane departure of a vehicle, Patent Document 1 discloses that a white line on a road surface is extracted by an image signal obtained from a line camera that captures the front of the vehicle, and the distance between the white line and the vehicle is a constant value. A lane departure warning device is disclosed that generates a warning if the winker is not operated when:

JP-A-6-251298

  The lane departure warning device described in Patent Document 1 does not generate a warning in the case of a vehicle lane departure based on the driver's intention such as operating a blinker during driving to change lanes. However, in such a lane departure warning device, if the distance between the white line, which is a threshold value for generating a warning for safety, and the distance between the vehicle and the vehicle are set large, the lane is changed even though the lane change is actually completed. It may be judged that it has deviated. In such a case, when the lane change is completed and the driver returns the blinker, an alarm is generated. It is troublesome for the driver to generate an alarm even though the lane change is completed in this way.

  The present invention has been made in view of the above problems, and an object thereof is to provide a lane departure warning device that reduces the annoyance felt by the driver.

A first aspect of the invention is a lane departure warning device that is mounted on a vehicle and that captures lane information from the image information and an image acquisition unit that acquires image information by photographing the front or rear of the vehicle. A warning signal is output in a manner that can be perceived by the driver when it is determined that the direction indicator is operating. An alarm setting unit that sets an alarm signal to a second alarm signal that is output in a manner that can be perceived by the driver when it is determined that the operation of the direction indicator has stopped, When the vehicle is within a predetermined distance from the boundary line of the lane, the departure determination unit that determines that the vehicle is in a tendency to deviate, and the alarm signal set by the alarm setting unit based on the determination result of the departure determination unit and a notification unit for alarm, first alarm signal, the driver An alarm by visible light sources, the second alarm signal is an alarm sound, alarm setting unit, when the alarm signal is set to the first alarm signal, it is determined that the vehicle is tending to depart from During the interval, even if the determination result of the instruction state determination unit changes, the setting of the alarm signal is maintained.
A second aspect of the invention is a lane departure warning device that is mounted on a vehicle and that captures lane information from the image information and an image acquisition unit that acquires image information by photographing the front or rear of the vehicle. A warning signal in a manner that can be perceived by the driver when the direction indicator is determined to be operating by the indicator, the instruction state determination unit that determines the operating state of the direction indicator, and the instruction state determination unit. The second alarm signal is output in a manner that can be perceived by the driver when the instruction state determination unit determines that the operation of the direction indicator is stopped. Based on the determination result of the alarm setting unit that is set in the alarm signal, the deviation determination unit that determines that the vehicle tends to deviate when the vehicle is within a predetermined distance from the boundary line of the lane, and the deviation determination unit Alarm signal set by the alarm setting section The first alarm signal is an alarm sound, the second alarm signal is an alarm sound whose volume is larger than that of the first alarm signal, and the alarm setting unit is configured such that the alarm signal is the first alarm. When the signal is set, the alarm signal setting is maintained while the determination result of the instruction state determination unit changes while it is determined that the vehicle tends to deviate.

In the first and second aspects of the invention, the first warning signal is issued during the lane change that deviates from the lane by operating the direction indicator, and when the vehicle deviates from the lane without operating the direction indicator, A second warning signal is issued to inform the person of the danger. The alarm setting unit maintains the alarm signal setting while the vehicle is in a departure tendency. For this reason, when the lane change is performed by operating the direction indicator, the first warning signal is generated and the second warning signal is generated until the departure determination unit determines that the vehicle does not have a tendency to depart. Not reported. Therefore, even if the departure determination unit determines that the vehicle has a tendency to deviate even though the lane change has actually been completed, a second warning signal that informs the driver of the danger by stopping the operation of the direction indicator is displayed. It will not be reported. In this way, by setting the two warning signals, it is possible to correctly notify whether the vehicle is in a lane change state or a state where the vehicle has deviated from the lane.

According to a third aspect of the present invention, there is provided a departure time determination unit that determines whether or not a time from the start of operation of the direction indicator until it is determined that the vehicle is in a departure tendency is equal to or less than a preset standby time; A caution notification unit that issues a caution alarm based on a determination result of the determination unit is further provided.

In the third aspect of the invention, when the time from the start of operation of the direction indicator to the departure of the lane is an inappropriate lane change that is equal to or less than the waiting time, a caution warning is issued by the caution notification unit. Therefore, according to the third invention, it is possible to warn the driver that the lane change is inappropriate.

4th invention adjoins an adjacent lane by the adjacent vehicle determination part which determines the presence or absence of the adjacent vehicle in the adjacent lane adjacent to the lane where a vehicle drive | works based on the image information which the image acquisition part acquired, and an adjacent vehicle determination part In the case where it is determined that there is a vehicle, when the direction indicator is operating, a danger notification unit that issues a danger warning is further provided.

In the fourth invention, when there is an adjacent vehicle in the adjacent lane, if the direction indicator is operated to change the lane, a danger warning is issued to notify the driver that the lane change is dangerous. it can. Therefore, according to the fifth aspect, safety during driving can be improved.

  ADVANTAGE OF THE INVENTION According to this invention, the troublesomeness which a driver | operator feels in a lane departure warning device can be reduced.

It is a block diagram which shows the structure of the lane departure warning apparatus which concerns on embodiment of this invention. It is a flowchart figure which shows the procedure in which the lane departure warning apparatus which concerns on embodiment of this invention issues a departure warning. It is a flowchart figure which shows the procedure in which the lane departure warning apparatus which concerns on embodiment of this invention issues a warning warning. It is a flowchart figure which shows the procedure in which the lane departure warning apparatus which concerns on embodiment of this invention issues a danger warning. It is a block diagram which shows the structure of the lane change warning apparatus which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

  First, with reference to FIG. 1, the structure of the lane departure warning apparatus 100 which concerns on this embodiment is demonstrated.

  The lane departure warning device 100 is mounted on a vehicle and issues a departure warning to inform the driver of danger when the host vehicle is likely to depart or depart from the driving lane regardless of the driver's intention due to falling asleep. It is a device to do. The lane departure warning device 100 does not issue a departure warning when performing a lane change that deviates from the lane based on the driver's intention. Hereinafter, a lane departure or a risk of departure that does not depend on the driver's intention is referred to as “dangerous departure”.

  As shown in FIG. 1, the lane departure warning device 100 includes a camera 10 as an image acquisition unit that is mounted on a vehicle and captures image information obtained by capturing the front of the vehicle, and image information that is mounted on the vehicle and captured by the camera 10. The controller 20 which processes and determines the driving | running | working state of the own vehicle and the warning part 30 which issues a warning based on the determination result of the controller 20 are provided.

  The camera 10 is a video camera composed of a CCD image sensor or the like, and is connected to the controller 20. The camera 10 captures a state in front of the vehicle including the road surface.

  The controller 20 includes a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and I / O interface (input / output interface). The RAM stores data in the processing of the CPU, the ROM stores a control program of the CPU in advance, and the I / O interface is used for input / output of information with the connected device.

  The controller 20 includes a lane information acquisition unit 21 that acquires a white line that is a lane boundary line from the image information acquired by the camera 10, an instruction state determination unit 22 that determines an operating state of the direction indicator 1, and an instruction state determination unit The alarm setting unit 23 that sets an alarm signal based on the determination result of 22 and the vehicle tends to deviate or deviate from the lane when the vehicle is within a predetermined distance from the white line. And a deviation determination unit 24 that determines that

  The lane information acquisition unit 21 performs image processing on the image information acquired by the camera 10, thereby detecting left and right white lines in the traveling lane in which the host vehicle is traveling.

  The instruction state determination unit 22 determines the operating state of the direction indicator 1 (so-called winker) that is mounted on the vehicle and displays the driver's intention to change lanes. Specifically, the instruction state determination unit 22 determines whether or not the direction indicator 1 is operating and, when the direction indicator 1 is operating, which of the left and right is indicated.

  The alarm setting unit 23 sets the alarm signal to the first alarm signal when the instruction state determination unit 22 determines that the direction indicator 1 is operating. Moreover, the warning setting part 23 sets a warning signal to the 2nd warning signal which notifies a driver | operator of danger, when it determines with the action | operation of the direction indicator 1 having stopped by the instruction | indication state determination part 22. FIG. The first alarm signal is an alarm sound, and the second alarm signal is an alarm sound that is issued at a louder volume than the first alarm signal.

  The departure determination unit 24 determines whether or not the host vehicle tends to depart from the traveling lane. The state in which the host vehicle tends to deviate includes a state in which the traveling vehicle straddles over the white line and a state in which the host vehicle may straddle the white line. The state where there is a possibility of straddling the white line refers to a state where the distance between the own vehicle and the white line is equal to or less than a predetermined distance, that is, a state where the own vehicle is within a predetermined distance from the white line without straddling the white line.

  Further, the controller 20 includes a departure time determination unit 25 that determines whether or not the time from when the direction indicator 1 starts operating until it is determined that the host vehicle is in a departure tendency is equal to or less than a preset specified time. The vehicle further includes an adjacent vehicle determination unit 26 that determines the presence or absence of an adjacent vehicle traveling in an adjacent lane adjacent to the lane in which the host vehicle is traveling.

  The departure time determination unit 25 is based on the determination results of the instruction state determination unit 22 and the departure determination unit 24, and the time from the start of the operation of the direction indicator 1 until it is determined that the host vehicle tends to depart is less than the specified time. It is determined whether or not. In other words, the departure time determination unit 25 determines whether or not an appropriate lane change has been performed in which the host vehicle is in a departure tendency state after a specified time has elapsed since the start of the operation of the direction indicator 1. The specified time is set to 3 seconds based on the Road Traffic Law. The specified time may be set longer than 3 seconds.

  The adjacent vehicle determination unit 26 determines whether there is a vehicle within a predetermined range in the adjacent lane based on the image information acquired by the camera 10 and the white line information detected by the lane information acquisition unit 21. By providing the adjacent vehicle determination unit 26, the lane departure warning device 100 warns that the lane change is dangerous when the direction indicator 1 is operating even though there is an adjacent vehicle. It can also be used as a device.

  The warning unit 30 issues a warning warning based on the determination result of the departure time determination unit 25 and the notification unit 31 that issues a warning signal set by the warning setting unit 23 based on the determination result of the departure determination unit 24. A caution notification unit 32 and a danger notification unit 33 that issues a danger warning that warns that the lane change is dangerous based on the determination result of the adjacent vehicle determination unit.

  The notification unit 31 is a speaker that issues a first alarm signal and a second alarm signal set by the alarm setting unit 23.

  The caution notification unit 32 is an LED lamp that issues a caution alarm set as blinking of the light source when the host vehicle tends to deviate within a specified time from the start of operation of the direction indicator 1. Note that the caution notification unit 32 may be a speaker. When the caution notification unit 32 is a speaker, the caution alarm may be an alarm sound that is intermittently generated.

  The danger notification unit 33 is a speaker used in common with the notification unit 31. When it is determined that there is an adjacent vehicle, the danger notification unit 33 warns the driver that the lane change is dangerous if the direction indicator 1 is activated based on the driver's intention to change the lane. A warning warning is issued.

  The danger alarm is, for example, an alarm sound having a louder volume than the second alarm signal, and is an alarm signal that gives a warning to the driver stronger than the second alarm signal. The danger warning may be any warning that alerts the driver that the lane change is dangerous. The danger alarm may be an alarm signal similar to the second alarm signal, for example.

  When the notification unit 31 and the danger notification unit 33 are a common speaker, both the warning signal issued by the notification unit 31 and the danger warning issued by the danger notification unit 33 are issued simultaneously. Alternatively, only one of them may be issued with priority. Different speakers may be used for the notification unit 31 and the danger notification unit 33.

  Next, processing executed by the controller 20 will be described with reference to FIGS.

  When the controller 20 receives the ignition switch ON signal, that is, when the ignition switch is operated and the engine is started, the controller 20 executes the following three processes independently. The following processing is executed until the engine is stopped after receiving the ignition switch OFF signal.

  The controller 20 determines whether or not the host vehicle tends to deviate and issues a deviant alarm, and the host vehicle tends to deviate within a specified time or less after the start of the operation of the direction indicator 1. If it is determined that the lane change is not appropriate, a caution warning process for issuing a caution warning is issued. And a danger alarm process for warning that it is dangerous.

  First, the procedure of the departure warning process will be described with reference to FIG.

  As shown in FIG. 2, in step 10, the operating state of the direction indicator 1 is determined. When it determines with the direction indicator 1 operating, it progresses to step 11 and sets a warning signal to a 1st warning signal. When it determines with the direction indicator 1 not operating, it progresses to step 12 and sets a warning signal to a 2nd warning signal.

  In step 13, white lines are detected from the image information acquired by the camera 10. In step 14, the distance between the white line detected in step 13 and the host vehicle is calculated.

  In step 15, it is determined based on the positional relationship between the host vehicle and the white line whether the host vehicle tends to deviate. Specifically, in step 15, it is determined whether the distance between the white line calculated in step 14 and the host vehicle is equal to or less than a predetermined distance (hereinafter referred to as “determination threshold”) stored in the controller 20 in advance. . When the distance between the white line and the host vehicle is equal to or less than the determination threshold, it is determined that the host vehicle has a tendency to deviate.

  If it is determined in step 15 that the host vehicle has a tendency to deviate, the alarm signal set in step 11 or 12 is output as a deviation alarm in step 16.

  If the departure tendency is due to a lane change based on the driver's intention, since the direction indicator 1 is operated by the driver, the warning signal is set to the first warning signal in step 11. Therefore, in the case of a lane change due to the driver's intention, a first warning signal having a relatively small volume is issued in step 16.

  If the tendency to deviate is a dangerous deviation due to falling asleep or the like regardless of the driver's intention, the direction indicator 1 is not operated, and thus the alarm signal is set to the second alarm signal in step 12. Therefore, when the host vehicle tends to deviate due to falling asleep or the like, a second alarm signal is issued in step 16 in which the volume is relatively large and the driver is informed of the danger. Further, even in the case of an inappropriate lane change not accompanied by the operation of the direction indicator 1, since the warning signal is set to the second warning signal, the second warning signal is issued in step 16.

  When the departure warning is issued in step 16 in this way, step 13 and step 14 are executed, and it is determined again in step 15 whether the host vehicle is in a departure tendency.

  If it is determined in step 15 that the host vehicle does not tend to deviate, in step 17, the notification unit 31 is set in a state where alarm output is stopped. That is, when the first and second warning signals, which are departure warnings, are issued, the reporting is stopped, and when the warning signals are not issued, the state is maintained.

  As described above, as long as it is determined that the host vehicle is in a tendency to deviate, steps 13 to 16 are repeatedly executed. While it is determined that the host vehicle has a tendency to deviate, even if the operating state of the direction indicator 1 changes, steps 10 to 12 are not executed, so the setting of the warning signal is maintained. Therefore, in the case of a lane change due to the driver's intention, the first warning signal having a relatively small volume is issued until the lane change is completed. In addition, when the vehicle tends to deviate regardless of the driver's intention, that is, in the case of a dangerous departure, the second alarm signal is relatively loud until the driver notices the departure tendency and returns the vehicle to an appropriate driving position. Continue to report.

  Here, in general, in the lane departure warning device, a warning is issued when it is determined that the own vehicle approaches the white line and may cross the white line. Whether there is a possibility of straddling the white line is determined based on whether the distance between the white line and the host vehicle is equal to or less than a determination threshold value. From the viewpoint of improving safety, it is desirable to set a large determination threshold value because it is possible to detect the risk of lane departure of the host vehicle at an early stage and issue an alarm.

  However, if the decision threshold is set to be large, the own vehicle still has a tendency to deviate because the vehicle has completely exceeded the white line and has moved away from the white line to some extent, but has not yet left the white line beyond the decision threshold. It may be determined that In this case, when the driver stops the operation of the direction indicator 1, it is determined that the lane departure is not due to the driver's intention, and an alarm for notifying the danger is issued by the lane departure warning device. As described above, it is troublesome for the driver to issue the warning to notify the danger in spite of the lane change based on the driver's intention.

  On the other hand, the lane departure warning device 100 activates the direction indicator 1 according to the driver's intention and issues a first warning signal during a lane change that deviates from the lane. When the direction indicator 1 is not operating regardless of the driver's intention and the vehicle tends to deviate, a second warning signal is issued to notify the driver of the danger. The alarm setting unit 23 maintains the setting of the alarm signal while the departure determination unit 24 determines that the host vehicle is in a departure tendency.

  For this reason, when the direction indicator 1 is operated to change the lane, the first warning signal is issued until the departure determination unit 24 determines that the lane change is completed and the own vehicle does not tend to deviate. Is maintained and no second alarm signal is issued. Therefore, even if the departure determination unit 24 determines that the host vehicle tends to deviate even though the lane change is actually completed, the driver is in danger by stopping the operation of the direction indicator 1. The second alarm signal to inform is not issued. In other words, the operation of the direction indicator 1 is stopped when the lane change is completed when the timing at which the departure determination unit 24 determines that the host vehicle does not tend to deviate from the actual completion timing of the lane change. Even then, the first alarm signal continues to be issued. As described above, in the lane departure warning device 100, the first and second warning signals are set as warning signals, and a notification is made as to whether the vehicle is in a state of changing lanes or in a state of departing from the lanes. Done correctly. For this reason, according to the lane departure warning apparatus 100, the troublesomeness which a driver | operator feels can be reduced.

  In order to prevent the second warning signal from being issued when the lane change is completed, it is determined that at least the warning signal is set to the first warning signal and the own vehicle is in a tendency to deviate. The setting of the alarm signal only needs to be maintained even if the determination result of the instruction state determination unit 22 changes. In other words, if the direction indicator 1 is activated after the direction indicator 1 has been operated without being activated (after the alarm signal is set to the second alarm signal), the setting of the alarm signal is maintained. It may be changed.

  Next, with reference to FIG. 3, the procedure of the caution alarm process will be described.

  As shown in FIG. 3, in the caution alarm process, first, in step 20, it is determined whether or not the direction indicator 1 has started operation. The caution warning warns that the lane change based on the driver's intention is not appropriate. For this reason, it is not necessary to issue a caution warning when the second warning signal is issued in the deviation warning process, that is, at the time of dangerous deviation when the direction indicator 1 is not operating. Therefore, when the start of operation of the direction indicator 1 is not detected, the caution alarm process is terminated without issuing a caution alarm.

  If it is detected in step 20 that the direction indicator 1 has started operating, step 21 is executed. In step 21, it is determined whether or not the time elapsed after the direction indicator 1 starts operating (hereinafter referred to as “standby time”) is 3 seconds or less of the specified time.

  If it is determined in step 20 that the standby time has passed the predetermined time of 3 seconds, the lane change performed thereafter is appropriate, and thus the caution alarm process is terminated without issuing a caution alarm.

  If it is determined in step 21 that the standby time is 3 seconds or less, steps 22 to 24 are executed to determine whether or not the host vehicle tends to deviate. Steps 22 to 24 are the same processes as steps 13 to 15 in the departure warning process, and thus description thereof is omitted.

  If it is determined in step 24 that the host vehicle has a tendency to deviate, it is determined that the host vehicle has deviated in a waiting time that is less than or equal to the specified time. Is issued. When the caution warning is issued in step 25, steps 22 to 25 are repeatedly executed until it is determined in step 24 that the host vehicle does not tend to deviate. For this reason, the caution warning continues to be issued until it is determined that the host vehicle does not tend to deviate.

  If it is determined in step 24 that the host vehicle does not tend to deviate, the warning alarm is stopped in step 26 and the warning alarm process is terminated.

  As described above, in the lane departure warning device 100, when the caution change process is executed, if the lane change is not appropriate, the caution warning is continuously issued during the lane change. For this reason, it is possible to warn the driver that the vehicle change is not appropriate. The lane departure warning device 100 may record an inappropriate lane change history in the controller 20.

  Next, the procedure of the danger alarm process will be described with reference to FIG.

  As shown in FIG. 4, in step 30, the operating state of the direction indicator 1 is determined. In step 30, in addition to whether or not the direction indicator 1 is in operation, it is also determined which of the left and right direction indicators 1 is in operation.

  If it is determined in step 30 that the direction indicator 1 is operating, whether there is an adjacent vehicle in the adjacent lane in the direction indicated by the direction indicator 1 based on the image information acquired by the camera 10 in step 31. Determine whether or not.

  If it is determined in step 31 that there is an adjacent vehicle, it is determined that it is dangerous to change the lane, and in step 32, a danger alarm that issues a warning stronger than the second alarm signal is issued. This can alert the driver that lane changes are dangerous.

  When a warning is issued in step 32, step 30 to step 32 are repeatedly executed until it is determined in step 30 that the direction indicator 1 is not operating or until it is determined in step 31 that there is no adjacent vehicle. . For this reason, the danger warning is continuously issued until the operation of the direction indicator 1 is stopped and the lane change is stopped or the adjacent vehicle disappears. If it is determined in step 30 that the direction indicator 1 is not operating, or if it is determined in step 31 that there is no adjacent vehicle, the warning of alarm is stopped in step 33, and the warning processing is ended.

  Thus, the lane departure warning device 100 can also be used as a lane change warning device that issues a danger warning by providing the adjacent vehicle determination unit 26 and executing the danger warning process. In other words, the lane departure warning device 100 issues a departure warning that informs the driver of the danger when the vehicle tends to deviate regardless of the driver's intention, and also before and during the lane change due to the driver's intention. When there is an adjacent vehicle, a danger warning is issued to notify that the lane change is dangerous. Therefore, the safety during operation can be further improved.

  Further, since both a lane departure warning and a danger warning due to the presence of an adjacent vehicle can be performed by a single device based on image information acquired by the camera 10, an increase in the size of the device configuration can be prevented. .

  Next, a modification of this embodiment will be described.

  In the above embodiment, the first alarm signal is an alarm sound, and the second alarm signal is an alarm sound whose volume is larger than that of the first alarm signal. Instead of this, the first alarm signal reduces the annoyance felt by the driver, and the second alarm signal can be any alarm signal as long as it informs the driver of the danger.

  For example, the first alarm signal may be an alarm by a light source that can be visually recognized by the driver. In this case, the notification unit 31 includes an LED lamp as a first notification unit that issues a first alarm signal, and a speaker as a second notification unit that issues an alarm sound that is a second alarm signal. Have. The first alarm signal is issued as a blinking LED lamp. According to such a modification, compared with the case where a 1st warning signal is an alarm sound, a driver | operator's troublesomeness can further be reduced.

  Further, the lane departure warning device 100 may include a forget-to-turn-off determination unit that warns that the direction indicator 1 has been forgotten to be turned off after the lane change. The forgetting to turn off determination unit has a timer, and if the direction indicator 1 continues to operate until a predetermined time elapses after step 17 is executed, the forgetting to turn off the direction indicator 1 Judge that there is. When the forgetting to erase determination unit determines that the direction indicator 1 is forgotten to be erased, the notification unit 31 issues a forgetting to erase alarm.

  When the direction indicator 1 continues to operate after completion of the lane change, and again enters the departure tendency state, the direction indicator 1 is in the operation state even if the departure tendency is not intended by the driver. Therefore, the second alarm signal is not issued. For this reason, even if there is a dangerous deviation due to falling asleep when the direction indicator 1 is forgotten to be turned off, the second alarm signal notifying the danger is not issued. On the other hand, since the forgetting to turn off determination unit is provided, forgetting to turn off the direction indicator 1 is prevented, and the second alarm signal is not issued when a dangerous departure occurs due to forgetting to turn off the direction indicator 1. Can be prevented.

  The lane departure warning device 100 sets the warning signal as the second warning signal by the warning setting unit 23 as a dangerous departure when the operation direction of the direction indicator 1 and the departure direction of the host vehicle are different. May be. For example, the second warning signal may be issued when it is determined that there is a tendency to deviate in the right direction with respect to the traveling direction even though the left direction indicator 1 is operating. Thereby, it is possible to warn the driver of a dangerous departure that the own vehicle tends to deviate in the opposite direction to the operation of the direction indicator 1, and to further improve the safety during driving.

  Further, the caution alarm need not be an alarm caused by blinking of the light source. For example, the caution alarm may be an alarm sound. If the caution alarm is an alarm sound, the caution alarm may be issued from the notification unit 31 instead of the first alarm signal when the lane change is inappropriate without providing the caution notification unit 32. Even in this case, since the setting of the warning signal is not changed by the change of the operating state of the direction indicator 1 at the time of an appropriate lane change, the troublesomeness felt by the driver can be reduced and the inappropriate lane is changed. Change alerts can be made.

  Moreover, in the said embodiment, the camera 10 image | photographs the front of the own vehicle. It replaces with this and the camera 10 may image the back of the own vehicle. Furthermore, the image acquisition unit may include a plurality of cameras 10 that capture the front and rear of the host vehicle. When both the front and rear of the host vehicle are photographed, it is possible to determine the presence or absence of adjacent vehicles both at the front and rear of the host vehicle, so that the safety during driving can be further improved.

  Moreover, in the said embodiment, the adjacent vehicle determination part 26 determines the presence or absence of an adjacent vehicle based on the image information which the camera 10 acquired. In order to make the lane departure warning device 100 compact, it is desirable to make a determination based on image information. Alternatively, for example, the presence or absence of an adjacent vehicle may be determined using a detection device such as a millimeter wave radar. .

  Moreover, in the said embodiment, when it determines with there being an adjacent vehicle in the state which the direction indicator 1 act | operated, a danger warning is issued. Instead, when it is determined that the host vehicle tends to deviate and when the direction indicator 1 is operating, it is dangerous to determine that there is an adjacent vehicle in the adjacent lane in the operating direction of the direction indicator 1. An alarm may be issued.

  Moreover, in the said embodiment, the controller 20 performs three processes, a departure warning process, a warning warning process, and a danger warning process. The controller 20 only needs to execute at least a departure warning process in order to warn the driver of the departure tendency of the host vehicle while reducing the annoyance felt by the driver.

  Further, as shown in FIGS. 2 to 4, the controller 20 executes the three processes of the departure alarm process, the caution alarm process, and the danger alarm process as independent processes. Instead of this, the controller 20 may execute two or more of the three processes as one process. The three processes may be executed by independent controllers.

  Moreover, in the said embodiment, the lane departure warning apparatus 100 can be utilized also as a lane change warning apparatus. Instead, the lane departure warning device 100 and the lane change warning device may be configured as devices independent of each other. In this case, as shown in FIG. 5, the lane change alarm device 200 configured independently is mounted on the vehicle, and the camera 10 as an image acquisition unit that acquires image information by photographing the front or rear of the vehicle. A lane information acquisition unit 21 that acquires a lane boundary line from the image information, an instruction state determination unit 22 that determines an operating state of the direction indicator 1, and a vehicle in an adjacent lane adjacent to the lane in which the host vehicle travels. When the adjacent vehicle determination unit 26 that determines the presence or absence and the adjacent vehicle determination unit 26 determines that there is a vehicle in the adjacent lane and the direction indicator 1 is operating, a danger warning is issued. What is necessary is just to provide the alerting | reporting part 33. FIG.

  According to the above embodiment, there exist the effects shown below.

  In the lane departure warning device 100, the warning setting unit 23 maintains the setting of the warning signal while the departure determination unit 24 determines that the host vehicle is in a departure tendency. For this reason, when the direction indicator 1 is operated to change the lane, the first alarm signal is maintained until the departure determination unit 24 determines that the host vehicle is not in a departure tendency. Therefore, even if the lane change is actually completed, even if it is determined by the departure determination unit 24 that there is a tendency to depart, the second is notified to the driver by stopping the operation of the direction indicator 1. No alarm signal is issued. Therefore, the troublesomeness felt by the driver can be reduced.

  Further, by executing the warning alarm process, a warning warning is issued when the lane change is not appropriate, and the driver can be warned that the vehicle change is not appropriate.

  Further, by making the first alarm signal an alarm using a light source that can be visually recognized by the driver, it is possible to further reduce the driver's troublesomeness as compared with the case where the first alarm signal is an alarm sound.

  Further, in the lane departure warning device 100, when there is a vehicle in the adjacent lane, if the direction indicator 1 is operated to change the lane, a danger warning is issued, and it is dangerous for the driver to change the lane. I can inform you. Therefore, according to the lane departure warning device 100, safety during driving can be further improved.

  Further, the lane departure warning device 100 can obtain both lane information and vehicle information of adjacent lanes from the image information acquired by the camera 10. For this reason, it is not necessary to separately provide a sensor or the like for determining the presence or absence of a vehicle in the adjacent lane. Therefore, the safety at the time of driving can be improved and the lane departure warning device 200 can be configured compactly.

  Hereinafter, the configuration, operation, and effect of the embodiment of the present invention will be described together.

  The lane departure warning device 100 is mounted on a vehicle, and operates the camera 10 that captures the front of the vehicle and acquires image information, the lane information acquisition unit 21 that acquires the boundary line of the lane from the image information, and the direction indicator 1. When it is determined by the instruction state determination unit 22 that determines the state and the direction indicator 1 is operating by the instruction state determination unit 22, the alarm signal is set to the first alarm signal, and the instruction state determination unit 22 When it is determined that the operation of the direction indicator 1 is stopped by the warning setting unit 23 that sets the warning signal to the second warning signal, the host vehicle is within a predetermined distance from the boundary line of the lane. A departure determination unit 24 that determines that the host vehicle tends to deviate in some cases, and a notification unit 31 that issues a warning signal set by the alarm setting unit 23 based on the determination result of the departure determination unit 24. The alarm setting unit 23 includes an alarm signal In the case but is set to the first alarm signal, while the vehicle is in departure tendency determination result of the instruction determination unit 22 is also changed to maintain the setting of the alarm signal.

  In this configuration, the first warning signal is issued during the lane change that deviates from the lane by operating the direction indicator 1, and it is dangerous to the driver if the lane is deviated without operating the direction indicator 1. A second alarm signal is issued to inform the user. The warning setting unit 23 maintains the setting of the warning signal while the host vehicle is in a departure tendency. For this reason, when the direction indicator 1 is operated to change the lane, the first warning signal is generated until the departure determination unit 24 determines that the host vehicle does not have a tendency to depart, and the second alarm is maintained. No signal is issued. Therefore, even if the departure determination unit 24 determines that there is a departure tendency even though the lane change has actually been completed, the second alarm informing the driver of the danger by stopping the operation of the direction indicator 1 No signal is issued. In this way, by setting the two warning signals, it is possible to correctly notify whether the vehicle is in a lane change state or a state where the vehicle has deviated from the lane. Therefore, the troublesomeness felt by the driver can be reduced.

  In the lane departure warning device 100, the first warning signal is a warning sound, and the second warning signal is a warning sound whose volume is larger than that of the first signal.

  Moreover, the modification of the lane departure warning apparatus 100 is a warning by the light source with which a 1st warning signal can be visually recognized by a driver | operator.

  The lane departure warning device 100 determines whether or not the time from the start of operation of the direction indicator 1 until it is determined that the host vehicle is in a departure tendency is equal to or less than a preset standby time. And a caution notification unit 32 that issues a caution alarm based on the determination result of the departure time determination unit 25.

  In this configuration, when the time from the start of operation of the direction indicator 1 to the departure of the lane is an inappropriate lane change that is equal to or less than the waiting time, a caution warning is issued by the caution notification unit 32. Therefore, according to this configuration, it is possible to warn the driver that the lane change is inappropriate.

  When the lane departure warning device 100 determines that there is a vehicle in the adjacent lane by the adjacent vehicle determination unit 26 that determines the presence or absence of a vehicle in the adjacent lane adjacent to the lane in which the host vehicle is traveling, and the adjacent vehicle determination unit 26 When the direction indicator 1 is operating, a danger notification unit 33 that issues a danger warning is further provided.

  In this configuration, when there is a vehicle in the adjacent lane and the direction indicator 1 is operated to change the lane, a danger warning is issued, and the driver can be notified that the lane change is dangerous. Therefore, according to this configuration, safety during driving can be improved.

  In the lane departure warning device 100, the adjacent vehicle determination unit 26 determines the presence or absence of a vehicle in the adjacent lane based on the image information acquired by the camera 10.

  In this configuration, both the lane information and the vehicle information of the adjacent lane can be obtained from the acquired image acquired by the camera 10. For this reason, it is not necessary to separately provide a sensor or the like for determining the presence or absence of a vehicle in the adjacent lane. Therefore, according to this configuration, it is possible to improve safety during driving and to make the lane departure warning device 100 compact.

  The embodiment of the present invention has been described above. However, the above embodiment is merely one example of application of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.

  DESCRIPTION OF SYMBOLS 100 ... Lane departure warning device, 1 ... Direction indicator, 10 ... Camera (image acquisition part), 21 ... Lane information acquisition part, 22 ... Instruction state determination part, 23 ... Warning setting part, 24 ... Deviation determination part, 25 ... Deviation time determination unit, 26 ... adjacent vehicle determination unit, 31 ... notification unit, 32 ... caution notification unit, 33 ... danger notification unit

Claims (4)

An image acquisition unit mounted on a vehicle and capturing image information by photographing the front or rear of the vehicle;
A lane information acquisition unit for acquiring a lane boundary line from the image information;
An instruction state determination unit for determining an operating state of the direction indicator;
When it is determined by the instruction state determination unit that the direction indicator is operating, a warning signal is set to a first alarm signal that is output in a manner that can be perceived by the driver, and the instruction state determination unit When it is determined that the operation of the direction indicator is stopped by the alarm setting unit that sets the alarm signal to a second alarm signal that is output in a manner that can be perceived by the driver,
A departure determination unit that determines that the vehicle tends to deviate when the vehicle is within a predetermined distance from the boundary of the lane;
Based on the determination result of the deviation determination unit, a notification unit that issues the alarm signal set by the alarm setting unit,
The first alarm signal is an alarm by a light source visible to the driver,
The second alarm signal is an alarm sound,
In the case where the warning signal is set to the first warning signal, the warning setting unit may change the determination result of the instruction state determination unit while it is determined that the vehicle tends to deviate. A lane departure warning device that maintains the setting of the warning signal. An image acquisition unit mounted on a vehicle and capturing image information by photographing the front or rear of the vehicle;
A lane information acquisition unit for acquiring a lane boundary line from the image information;
An instruction state determination unit for determining an operating state of the direction indicator;
When it is determined by the instruction state determination unit that the direction indicator is operating, a warning signal is set to a first alarm signal that is output in a manner that can be perceived by the driver, and the instruction state determination unit When it is determined that the operation of the direction indicator is stopped by the alarm setting unit that sets the alarm signal to a second alarm signal that is output in a manner that can be perceived by the driver,
A departure determination unit that determines that the vehicle tends to deviate when the vehicle is within a predetermined distance from the boundary of the lane;
Based on the determination result of the deviation determination unit, a notification unit that issues the alarm signal set by the alarm setting unit,
The first alarm signal is an alarm sound,
It said second alarm signal, Ri alarm sound der volume is greater than the first alarm signal,
In the case where the warning signal is set to the first warning signal, the warning setting unit may change the determination result of the instruction state determination unit while it is determined that the vehicle tends to deviate. lane departure warning system you and maintains the setting of the alarm signal. A departure time determination unit that determines whether the time from the start of operation of the direction indicator until the vehicle is determined to have a departure tendency is equal to or less than a preset standby time;
The lane departure warning device according to claim 1 , further comprising a caution notification unit that issues a caution warning based on a determination result of the departure time determination unit. An adjacent vehicle determination unit that determines the presence or absence of an adjacent vehicle in an adjacent lane adjacent to a lane in which the vehicle travels based on the image information acquired by the image acquisition unit;
When the adjacent vehicle determination unit determines that the adjacent vehicle is in the adjacent lane, and further includes a danger notification unit that issues a danger warning when the direction indicator is operating. The lane departure warning device according to any one of claims 1 to 3 .

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