JP6520691B2 - Lane deviation warning device and lane deviation warning method - Google Patents

Description

  The present invention relates to a lane departure warning system and a lane departure warning method, and more particularly to a technique for warning a driver of the possibility of departure from the lane of a vehicle.

  Conventionally, there have been proposed various lane departure warning systems that alert the driver by issuing a warning in a situation where the vehicle may deviate from the driving lane (see, for example, Patent Document 1). Patent Document 1 discloses that an alarm is issued by an alarm device when there is no turn signal operation and there is a possibility of a lane deviation of a vehicle.

JP, 2015-102891, A

  Even when the turn signal is not operated, the driver may intentionally try to cause the vehicle to deviate from the current traveling lane. In such a case, when a warning is issued for the possibility of the lane departure of the own vehicle based on the fact that the turn signal has not been operated, unnecessary warning control may be performed or the driver may instead be issued by issuing a warning. May cause the driver to make a judgment mistake.

  The present invention has been made in view of the above problems, and it is an object of the present invention to provide a lane departure warning device capable of performing a warning under an appropriate condition with respect to the possibility of departure from the traveling lane of the own vehicle. I assume.

  The present invention adopts the following means in order to solve the above problems.

  The present invention relates to a lane departure warning device (30) that warns of the possibility of departure of the host vehicle from the travel lane. The invention according to claim 1 is a departure detection unit (36) for detecting the possibility of departure of the vehicle from the traveling lane based on the relative position of the vehicle with respect to the traveling lane, and the departure detection A warning control unit (37) that warns of the possibility of the departure when it is detected that there is a possibility of the departure by the unit and the turn signal (15) of the own vehicle is not operated; An emergency vehicle recognition unit (33a) for recognizing an emergency vehicle approaching a car, and the alarm control unit detects the deviation when the emergency vehicle recognition unit recognizes the emergency vehicle It is characterized in that, even if it is detected by the unit that there is a possibility of the deviation, and the turn signal of the own vehicle is not operated, an alarm is not issued to the possibility of the deviation.

  In a situation where the emergency vehicle is traveling in the vicinity of the own vehicle, the driver of the own vehicle roars and tries to move the emergency vehicle to give way to the emergency vehicle, and the driver does not operate the winker from the traveling lane of the own vehicle There are times when you try to deviate. In such a case, if a warning is issued for the possibility of a lane departure of the host vehicle, unnecessary warning control will result. In addition, it may be possible to cause the driver to burn rather by issuing an alarm, which may cause the driver to make a mistake. In view of these points, in a situation where the emergency vehicle is approaching the vehicle, even if the turn signal of the vehicle is not operated by the driver, a warning is given to the possibility of the lane departure of the vehicle. By not doing this, it is possible to suppress the execution of unnecessary control or giving the driver a sense of discomfort due to a warning under an inappropriate situation.

FIG. 1 is a block diagram showing a schematic configuration of a lane departure warning system. The flowchart which shows the processing procedure of lane departure warning processing. The flowchart which shows the process sequence of the process which determines the presence of an emergency vehicle.

  Hereinafter, the lane departure warning system of the present embodiment will be described with reference to the drawings. In addition, below, the same code | symbol is attached | subjected to the part which is mutually the same or equal in each embodiment, and the description is used about the part of the same code | symbol. The lane departure warning system according to the present embodiment is applied to a vehicle and detects the possibility of departure of the host vehicle from the traveling lane and issues an alert with a lane departure warning device as an electronic control unit as the center. The driver is warned by performing the departure warning control. First, a schematic configuration of the lane departure warning system 10 of the present embodiment will be described with reference to FIG.

  In FIG. 1, a vehicle is equipped with a monitoring camera 12, a front / rear sensor 13, an inter-vehicle communication device 14, a GNSS receiver 18 and the like as an environment recognition device that recognizes a traveling environment around the vehicle. The monitoring camera 12 is, for example, a CCD camera. In the present embodiment, the monitoring camera 12 is disposed in the vicinity of the upper end of the windshield of the vehicle and in the vicinity of the upper end of the rear glass, and photographs the vehicle peripheral environment including the road in front of and behind the vehicle. The front and rear sensors 13 are sensors such as a laser radar, a millimeter wave radar, and an ultrasonic sensor, and are attached to, for example, a bumper of a vehicle. The front / rear sensor 13 detects an object present in front, rear, or side of the vehicle, and acquires a distance to the object. The inter-vehicle communication device 14 is a device that transmits and receives vehicle information to and from other vehicles, and for example, information on vehicle position, speed, etc., to other vehicles existing within a predetermined range from the vehicle position. Transmit and receive by wireless communication. The GNSS receiver 18 acquires various information such as position information, speed information, current time and the like of the own vehicle and other vehicles based on the signal transmitted from the artificial satellite.

  In addition to the above sensors, the vehicle is also provided with various sensors such as a wheel speed sensor 16 for detecting the wheel speed of the vehicle, and a yaw rate sensor 17 for detecting an angular velocity (yaw rate) in the turning direction of the vehicle. . Further, the vehicle is provided with an outside sound collecting microphone 19 for detecting the size and frequency of the outside sound.

  The lane departure warning device 30 is a computer provided with a CPU, a ROM, a RAM, an I / O, and the like. The lane departure warning device 30 includes a control state setting unit 31, a lane line recognition unit 32, a vehicle recognition unit 33, a lane departure recognition unit 34, and an alarm control unit 37, and non-transitory substantial storage Run the program stored on the medium. These functions are realized by executing this program. The lane departure warning device 30 receives the information recognized by the above-described environment recognition device, the information detected by various sensors, and the like.

  The control state setting unit 31 sets a control mode in which an alarm is given to the possibility of lane departure of the host vehicle or a non-control mode in which the alarm is not performed. In the present embodiment, the control switch 11 for control mode setting operated by the driver is provided in the vehicle. The control state setting unit 31 sets the control mode / non-control mode according to the ON / OFF signal input from the control switch 11.

  The lane marking recognition unit 32 inputs the image data captured by the monitoring camera 12 and the yaw rate detected by the yaw rate sensor 17, and recognizes the traveling lane markings using the input data. Further, travel path information such as the travel lane in which the vehicle is currently traveling is acquired from the recognized travel division lines. The travel division lines include, for example, straight lane markers such as white lines, and lane markers in the form of dot rows such as botts dot. The vehicle recognition unit 33 inputs information related to other vehicles acquired by the monitoring camera 12, the front / rear sensor 13, the inter-vehicle communication device 14, the GNSS receiver 18 and the like, and around the vehicle based on the input information. Recognize the position information and traveling conditions of other vehicles that are present in.

  The lane departure recognition unit 34 extracts an element for determining whether or not to warn that the host vehicle has deviated from the traveling lane, and includes an operation state determination unit 35 and a departure detection unit 36.

  The operation state determination unit 35 receives an operation signal from the turn signal 15 of the own vehicle and determines the operation state of the turn signal 15. This recognizes the driver's intention to change lanes. The winker 15 is provided with an operation lever (not shown) as a left / right turn operation unit for the driver to input a direction in which the vehicle turns right or left. The control lever is operated by the driver from the neutral position to the left designated position or the right designated position. The winker 15 outputs an operation signal corresponding to the position of the operation lever to the operation state determination unit 35.

  The departure detection unit 36 detects the possibility of departure of the host vehicle from the travel lane based on the relative position of the host vehicle with respect to the travel lane in which the host vehicle is traveling. In the present embodiment, the distance DL between the lane line of the traveling lane (for example, the edge inside the white line) recognized by the lane line recognition unit 32 and the own vehicle (for example, the outer end face of the front wheel) is calculated as a deviation estimate. It is determined whether the calculated departure estimated value is within a predetermined departure determination range which indicates that the host vehicle may deviate from the traveling lane. For example, it can be determined that the front wheel of the vehicle has stepped on the white line, that the front wheel of the vehicle has crossed the white line, or that the front wheel of the vehicle has just stepped on the white line. Range is preset. Then, when it is determined that the estimated departure value is within the predetermined departure determination range, it is determined that there is a possibility that the vehicle deviates from the lane.

  The alarm control unit 37 controls the operation of the alarm unit 20 in accordance with the detection result of the departure detection unit 36 and the operation state of the winker 15 determined by the operation state determination unit 35. This warns the driver that there is a possibility that the host vehicle will deviate from the lane. In this embodiment, (1) the departure detection unit 36 determines that the vehicle is likely to deviate from the lane, and (2) the operation state determination unit 35 determines that the winker 15 of the vehicle is the alarm execution condition. It is not operated by the driver, that is, it is determined that the operation lever is in the neutral position, and when both of these two conditions are satisfied, the possibility of the lane departure of the host vehicle is raised. Give an alert. The alarm unit 20 may be any device that alerts the driver by sound, light, image, vibration or the like. In the present embodiment, the alarm unit 20 includes a vibration alarm unit 21 that vibrates the steering wheel and the driver's seat, a sound alarm unit 22 that outputs an alarm sound and a guidance voice, and a display alarm unit 23 that displays various images. ing.

  Here, even when the turn signal 15 is not operated, the driver may intentionally try to cause the vehicle to deviate from the current traveling lane. For example, in a situation where the emergency vehicle approaches the host vehicle, the driver of the host vehicle rushes to move the vehicle to the side of the road shoulder or the central divider without operating the winker 15 in order to quickly give way to the emergency vehicle. There is. In such a case, even if a warning is issued for the possibility of the lane departure of the host vehicle, unnecessary warning control will result. In addition, issuing a warning may in turn cause the driver to burn, which may cause the driver to make a mistake.

  Therefore, in the present embodiment, when the emergency vehicle approaching the vehicle is recognized based on the information acquired from the environment recognition device, the warning control unit 37 detects the emergency vehicle from the traveling lane of the vehicle by the departure detection unit 36. Even if it is detected that there is a possibility of departure and it is determined by the operation state determination unit 35 that the turn signal 15 of the own vehicle is not operated, an alarm is issued for the possibility of the lane departure of the own vehicle It will not be implemented.

  Specifically, as shown in FIG. 1, the vehicle recognition unit 33 of the present embodiment includes an emergency vehicle recognition unit 33 a and another vehicle condition recognition unit 33 b. The emergency vehicle recognition unit 33a recognizes the emergency vehicle approaching the own vehicle using the information on the other vehicle input through the above environment recognition device. In this embodiment, position information on the relative position of the emergency vehicle to the host vehicle is acquired from the inter-vehicle communication device 14, and sound information on siren sound emitted by the emergency vehicle is acquired from the external sound collection microphone 19 The emergency vehicle approaching to the own vehicle is recognized using the position information and sound information of the emergency vehicle. The emergency vehicle approaching the own vehicle may be recognized using position information from the monitoring camera 12 and the front and rear sensors 13.

  The other vehicle state recognition unit 33b uses information from the environment recognition device on the other vehicle to travel in front of the vehicle on the same lane as the vehicle (forward vehicle) and on the same lane as the vehicle Recognize the position and running condition of the vehicle (rear vehicle) traveling behind the vehicle. The vehicle to be recognized here is a vehicle different from the emergency vehicle, and in the present embodiment, a preceding vehicle traveling immediately before the own vehicle and a succeeding vehicle traveling immediately after the own vehicle are used. In addition, the other vehicle state recognition unit 33b recognizes the direction of course change of the vehicles recognized as the front car and the rear car, and determines whether or not it is the same direction as the own vehicle deviates from the lane. judge. The alarm control unit 37 detects that there is a possibility of the lane departure of the own vehicle by the deviation detection unit 36, and determines that the operation state determination unit 35 does not operate the winker 15, and the emergency vehicle recognition unit 33a When an emergency vehicle approaching a car is recognized, and it is determined by the other vehicle state recognition unit 33b that the lane departure direction of the own vehicle is the same as the direction change of the forward and backward vehicles Does not warn about the possibility of the lane departure of the vehicle.

  Next, the processing procedure of the departure warning control of this embodiment will be described using the flowchart of FIG. This process is executed by the CPU of the lane departure warning device 30 in response to the ignition switch of the vehicle being turned on. Each process of FIG. 2 below may be realized by an electronic circuit that is hardware, or may be realized at least partially by software, that is, a process executed on a microcomputer.

  In FIG. 2, in step S11, it is determined whether the control switch 11 is turned on. If the control switch 11 is ON, the process proceeds to step S12, and travel path information of the vehicle is acquired. Here, the travel lane in which the vehicle is currently traveling is identified. In the following step S13, it is determined whether or not the estimated departure value detected by the departure detection unit 36 is within a predetermined departure determination range. If the departure estimated value is out of the predetermined departure determination range, a negative determination is made in step S13, and the process returns to step S11.

  If the departure estimated value is within the predetermined departure determination range, the process proceeds to step S14, and it is determined whether or not the turn signal 15 of the own vehicle is not operated. If the winker 15 is operated, the process proceeds to step S18, and it is determined whether the ignition switch is turned off, and if the ignition is not turned off, the processing from step S11 is repeated.

  When it is in the state where the turn signal 15 of the own vehicle is not operated, affirmation determination is carried out by step S14, and it progresses to step S15. In step S15, it is determined whether there is an emergency vehicle approaching the host vehicle. In the present embodiment, using the position information and sound information of the emergency vehicle recognized by the environment recognition device, the presence or absence of the emergency vehicle approaching the own vehicle is determined in another routine of FIG. 3.

  In FIG. 3, in step S21, position information of the emergency vehicle is acquired from the inter-vehicle communication device 14, and based on the position information, it is determined whether or not the emergency vehicle exists in the control target range of the own vehicle. In step S22, it is determined whether the volume of the siren sound of the emergency vehicle detected by the external sound collection microphone 19 is equal to or higher than a predetermined volume. Then, if both the determination in step S21 and step S22 are affirmative, the process proceeds to step S23, and it is determined that there is an emergency vehicle approaching the host vehicle. On the other hand, if a negative determination is made in at least one of step S21 and step S22, the process proceeds to step S24, and it is determined that there is no emergency vehicle approaching the host vehicle.

  Returning to the explanation of FIG. 2, when there is no emergency vehicle approaching the host vehicle, a negative determination is made in step S15, and the process proceeds to step S17 to operate the alarm unit 20 to alert the driver. In step S18, it is determined whether the ignition switch is off. If the ignition is not off, the process returns to step S11.

  On the other hand, if it is determined that there is an emergency vehicle approaching the host vehicle, the process proceeds to step S16, and the host vehicle travels in the same lane as the host vehicle and in the direction away from the traveling lane. It is determined whether or not the directions in which the forward and backward vehicles change course are the same. If it is determined that these are in the same direction, the process proceeds to step S18 without executing the process of step S17. In this case, the alarm by the alarm unit 20 is not implemented. If the direction in which the host vehicle deviates from the traveling lane is different from the direction in which the preceding and following vehicles change course, the process proceeds to step S17 and an alarm is implemented.

  When the emergency vehicle leaves the vicinity of the own vehicle, the emergency vehicle ceases to exist within the control target range of the own vehicle, and the volume of the siren sound of the emergency vehicle also becomes less than the predetermined volume. Along with this, the warning non-execution due to the presence of the emergency vehicle is canceled, and thereafter, the warning is performed when the turn signal 15 is not operated at the time of departure from the lane of the own vehicle.

  According to the present embodiment described above, the following excellent effects can be obtained.

  When the emergency vehicle approaching the vehicle is recognized based on the information acquired from the environment recognition device such as the monitoring camera 12, it is detected that there is a possibility of departure from the traveling lane of the vehicle, and Even in the case where the turn signal 15 of the own vehicle is not operated, it is configured not to warn the possibility of the lane departure of the own vehicle. According to this configuration, it is possible to suppress an unnecessary warning for a lane departure intended by the driver or to give the driver a sense of discomfort due to a warning under an inappropriate situation.

  When recognizing that the emergency vehicle is approaching the own vehicle, the direction in which the own vehicle deviates from the traveling lane is the same as the direction in which another vehicle traveling on the same lane as the own vehicle changes course Under the condition that it is a direction, no warning is given to the possibility of the lane departure of the vehicle even without the turn signal operation. When the driver recognizes that the emergency vehicle is approaching the host vehicle, the driver should change course in the same direction as the vehicles existing around the host vehicle in order to give way to the emergency vehicle. By taking into consideration such behavior and adding the condition regarding the direction in which the vehicle deviates from the traffic lane to the requirement for not performing warning, the behavior of the lane departure of the vehicle is associated with the approach of the emergency vehicle. You can judge exactly what you are doing.

  The emergency vehicle approaching the own vehicle is recognized using position information on the relative position of the emergency vehicle with respect to the own vehicle and sound information on a siren sound emitted by the emergency vehicle. According to such a configuration, it is possible to increase the recognition accuracy that the emergency vehicle is near the vehicle and that the emergency vehicle is approaching the vehicle. As a result, it can be accurately determined that the movement of the host vehicle from the traveling lane is an intended lane departure accompanying the approach of the emergency vehicle.

(Other embodiments)
The present invention is not limited to the above embodiment, and may be implemented, for example, as follows.

  In the above embodiment, when there is an emergency vehicle approaching the host vehicle, the direction in which the host vehicle deviates from the traveling lane, and the front and rear vehicles traveling on the same lane as the host vehicle Although the configuration is such that no warning is issued against the possibility of lane departure of the own vehicle without the turn signal operation on condition that the direction to change course is the same direction, there is an emergency vehicle approaching the own vehicle If the vehicle is traveling, regardless of whether the direction in which the vehicle deviates from the traveling lane is the same as the direction in which the forward and backward vehicles traveling on the same lane as the vehicle are traveling in the same direction, A configuration may be adopted in which no warning is given to the possibility of the driver's lane departure even without the winker operation. That is, the process of step S16 of FIG. 2 may not be executed.

  In the above embodiment, when the direction in which one of the forward and backward vehicles traveling on the same lane as the own vehicle changes the route and the direction in which the own vehicle deviates from the traveling lane are the same direction The configuration may be such that no warning is given to the possibility of the lane departure of the own vehicle due to the presence of the emergency vehicle approaching the own vehicle. Further, the number of front cars and rear cars to be targeted may be one by one or plural.

  In the above embodiment, the configuration is such that the presence / absence of the emergency vehicle approaching the own vehicle is determined using the position information and the sound information of the emergency vehicle, but any one of the position information and the sound information of the emergency vehicle Only one of them may be used to determine the presence or absence of an emergency vehicle approaching the host vehicle.

  In the above-described embodiment, in step S14 of FIG. 2, a configuration in which the turn signal 15 of the host vehicle is operated and the operation direction is the same as the direction in which the host vehicle deviates from the traveling lane It may be Even when the turn signal 15 of the own vehicle is operated, if the operation direction is different from the direction in which the own vehicle deviates from the traveling lane, the driver may have an intention to change lanes It can not be said. In addition, when the operation direction of the winker 15 of the own vehicle deviates from the lane of the own vehicle at the time of departure from the lane of the own vehicle, when the emergency vehicle approaches, the driver climbs the winker 15 by approaching. It is conceivable that you have operated it. In this respect, according to the above configuration, when the operation direction of the winker 15 of the own vehicle deviates from the lane of the own vehicle at the time of departure from the lane of the own vehicle, the emergency approaching the own vehicle It is possible to decide on / off of the alarm depending on the presence or absence of the vehicle. This makes it possible to prevent the driver from being confused by an alarm under an inappropriate situation.

  The configuration may be such that no warning is given to the possibility of lane departure when there is an emergency vehicle approaching the vehicle, provided that the vehicle speed of the vehicle is less than or equal to the predetermined vehicle speed. When the driver recognizes that the emergency vehicle is approaching the host vehicle, the driver switches to slow driving and moves the vehicle to the road shoulder or the central divider. By taking into consideration such behavior and adding the vehicle speed condition of the own vehicle, it can be accurately determined that it is a lane departure accompanied by the approach of the emergency vehicle.

  The method of detecting an emergency vehicle approaching the own vehicle may be other than the above. For example, in the above embodiment, the emergency vehicle is detected based on the volume of the siren sound of the emergency vehicle detected by the external sound collection microphone 19 for the sound information of the emergency vehicle, but the emergency vehicle is detected based on the change of the Doppler frequency of the siren sound It may be configured to

  -Each above-mentioned component is conceptual, and is not limited to the above-mentioned embodiment. For example, the function possessed by one component may be distributed to a plurality of components, or the function possessed by a plurality of components may be realized by one component.

  DESCRIPTION OF SYMBOLS 10 ... Lane deviation warning system, 12 ... Monitoring camera, 13 ... Forward / back sensor, 14 ... Inter-vehicle communication device, 15 ... Turn signal, 20 ... Alarm part, 30 ... Lane deviation warning device, 31 ... Control state setting part, 32 ... lane marking recognition unit, 33a ... emergency vehicle recognition unit, 33b ... other vehicle state recognition unit, 35 ... operation state determination unit, 36 ... deviation detection unit, 37 ... alarm control unit.

Claims (4)

A lane departure warning device (30) that warns of the possibility of departure from the lane of the host vehicle,
A deviation detection unit (36) for detecting the possibility of deviation of the vehicle from the traveling lane based on the relative position of the vehicle relative to the traveling lane;
And an alarm control unit (37) for giving an alarm on the possibility of the departure when the departure detection unit detects that there is a possibility of the departure and the turn signal (15) of the vehicle is not operated. ,
An emergency vehicle recognition unit (33a) for recognizing an emergency vehicle approaching the own vehicle;
When the emergency vehicle recognition unit recognizes the emergency vehicle, the warning control unit detects that there is a possibility of the departure by the departure detection unit, and the turn signal of the own vehicle is not operated. A lane departure warning device, which does not even warn about the possibility of said deviation even if. The other vehicle state recognition unit (33b) for recognizing the traveling state of another vehicle traveling in the same lane as the own vehicle,
When the emergency vehicle recognition unit recognizes the emergency vehicle, the warning control unit determines that the direction of the course change of the other vehicle is the same as the direction in which the own vehicle deviates from the traveling lane. The lane departure warning device according to claim 1, wherein no warning is given to the possibility of the deviation under certain conditions.   The emergency vehicle recognition unit recognizes an emergency vehicle approaching the vehicle using position information on the relative position of the emergency vehicle with respect to the vehicle and sound information on a siren sound emitted by the emergency vehicle. The lane departure warning device according to claim 1 or 2. A lane departure warning method that warns of the possibility of departure from the lane of the host vehicle, comprising:
When an emergency vehicle approaching the vehicle is recognized, it is detected that there is a possibility that the vehicle deviates from the traveling lane based on the relative position of the vehicle relative to the traveling lane, and A lane departure warning method which does not warn against the possibility of the deviation even when the turn signal of the own vehicle is not operated.

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