JP6651739B2 - Lane departure warning device and lane departure warning control method - Google Patents

Description

  The present invention relates to a lane departure warning device and a lane departure warning control method.

  Conventionally, there is a lane departure warning device that determines whether a vehicle has deviated from a lane based on detection signals of a steering wheel angle sensor, a camera, and a vehicle speed sensor. For example, in the conventional lane departure warning device described in Patent Literature 1, when a state in which the vehicle deviates from the lane is detected, a motor provided in the steering wheel is driven to rotate an unbalance weight, and an alarm is issued to the steering wheel. Generates vibration. This warns the driver of the lane departure.

JP 2013-244767 A

  By the way, in the lane departure warning device, it is important to accurately specify the position of the lane boundary in order to improve the accuracy of the lane departure warning.

  However, in rough road surface conditions such as snowy roads, in particular, when snow is piled on the road surface, a part of which is melted and the road surface is partially exposed, when the position of the lane boundary is specified, It is not easy to reliably distinguish the boundary line from the snow, and there is a possibility that the lane boundary line is confused with the snow and an unnecessary lane departure warning is issued.

  An object of the present invention is to provide a lane departure warning device and a lane departure warning control method that can suppress unnecessary lane departure warnings on rough roads such as snowy roads.

One aspect of the lane departure warning device of the present invention is a lane boundary detection unit that detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and a lane in which the vehicle is detected from the traveling lane. A lane departure determining unit that determines whether the vehicle deviates outside the boundary line; an alarm output processing unit that outputs a lane departure warning when the vehicle is determined to deviate from the traveling lane; A false recognition detection estimating unit that estimates whether or not false recognition detection has occurred for the boundary line, wherein the false recognition detection estimating unit is detected when a lane boundary line on only one side of the traveling lane is detected. The presence / absence of false recognition detection for only one lane boundary line is estimated, and the alarm output processing unit suppresses the output of the lane departure warning on the condition that it is estimated that the false recognition detection has occurred.
Further, an aspect of the lane departure warning device of the present invention is a lane boundary detection unit that detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and the vehicle is detected from the traveling lane. A lane departure determining unit that determines whether the vehicle deviates outside the lane boundary line, an alarm output processing unit that outputs a lane departure warning when it is determined that the vehicle deviates from the traveling lane, A false recognition detection estimating unit that estimates whether or not false recognition has occurred for the lane boundary, wherein the distance to the lane boundary detected from the vehicle is equal to or less than a predetermined value. If the state continues for a predetermined time, it is estimated that misdetection has been detected for the detected lane boundary, and the alarm output processing unit performs the lane departure warning on the condition that it is estimated that the false recognition has occurred. output Deterrent to.
Further, an aspect of the lane departure warning device of the present invention is a lane boundary detection unit that detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and the vehicle is detected from the traveling lane. A lane departure determining unit that determines whether the vehicle deviates outside the lane boundary line, an alarm output processing unit that outputs a lane departure warning when it is determined that the vehicle deviates from the traveling lane, A false recognition detection estimating unit that estimates the presence or absence of false recognition detection for the lane boundary, and the false recognition detection estimating unit reduces the distance from the vehicle to the detected lane boundary instantly, If the absolute value of the instantaneous change amount is equal to or more than a predetermined value, it is estimated that erroneous detection has been detected for the detected lane boundary, and the alarm output processing unit has estimated that the erroneous detection has occurred. Subject to prior To suppress the output of the lane departure warning.

One aspect of the lane departure warning control method of the present invention detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and moves the vehicle from the traveling lane to outside the detected lane boundary. A lane departure warning control method executed in the vehicle, comprising determining whether or not the vehicle has deviated and, when it is determined that the vehicle has deviated from the traveling lane, causing a warning output processing unit to output a lane departure warning. When a lane boundary of only one side of the traveling lane is detected, it is estimated whether or not false detection has been detected for the detected lane boundary of only one side, and it is estimated that the false recognition has occurred. Sometimes, the output of the lane departure warning is suppressed.
Further, one mode of the lane departure warning control method of the present invention detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and detects the lane boundary of the detected lane boundary from the traveling lane. It is determined whether or not the vehicle has deviated outward, and when it is determined that the vehicle has deviated from the traveling lane, a lane departure alarm is output from an alarm output unit. The presence or absence of occurrence of false recognition detection for the detected lane boundary is estimated, and if the state in which the distance from the vehicle to the detected lane boundary is equal to or less than a predetermined value continues for a predetermined time, the detection is performed. Estimating that false recognition has occurred in the lane boundary, and suppressing the output of the lane departure warning when it is estimated that the false recognition has occurred.
Further, one mode of the lane departure warning control method of the present invention detects a lane boundary that defines a traveling lane of a vehicle on a rough road surface, and detects the lane boundary of the detected lane boundary from the traveling lane. It is determined whether or not the vehicle has deviated to the outside, and when it is determined that the vehicle has deviated from the traveling lane, a lane departure alarm is output from an alarm output unit. Then, the presence or absence of the occurrence of false recognition for the detected lane boundary is estimated, the distance from the vehicle to the detected lane boundary is instantaneously reduced, and the absolute value of the instantaneous change is a predetermined value. In the case described above, it is estimated that erroneous recognition has been detected for the detected lane boundary, and when it is estimated that the erroneous detection has occurred, the output of the lane departure warning is suppressed.

  According to the present invention, an unnecessary lane departure warning on a rough road surface such as a snowy road can be suppressed.

Schematic configuration diagram showing an example of a vehicle equipped with a lane departure warning device according to the present embodiment Functional block diagram showing an electronic control unit of the lane departure warning device according to the present embodiment 4 is a flowchart illustrating a control operation of the lane departure warning control method according to the present embodiment. Flowchart illustrating a control operation for estimating occurrence of false recognition detection in the lane departure warning control method according to the present embodiment. 5 is a flowchart illustrating a control operation performed when a false recognition is detected in the lane departure warning control method according to the present embodiment. Schematic diagram for explaining a first running scene example Schematic diagram for explaining a second running scene example Schematic diagram for explaining a third running scene example Schematic diagram for explaining a fourth running scene example Schematic diagram for explaining a fifth running scene example

  Hereinafter, a lane departure warning device and a lane departure warning control method according to an embodiment of the present invention will be described with reference to the accompanying drawings. Note that components having the same name and the same function are denoted by the same reference numerals, and the description thereof will not be repeated.

  FIG. 1 is a schematic configuration diagram illustrating an example of a vehicle 50 equipped with a lane departure warning device 10 according to the present embodiment.

  As shown in FIG. 1, a lane departure warning device 10 according to the present embodiment is mounted on a vehicle 50 (large vehicle) such as a truck, and includes a CCD camera 11, an electronic control unit (hereinafter, simply referred to as an ECU) 20. , A speaker 30 for giving an acoustic alarm, and a display device 31.

  The CCD camera 11 is provided at a front portion of the cab CA of the vehicle 50. The CCD camera 11 captures an image of a lane boundary line WL such as a white line or a yellow line on the road surface that divides the traveling lane LA of the vehicle 50, and transmits the captured image to the ECU 20. The means for detecting the lane boundary is not limited to the CCD camera 11, but may be another known imaging device such as a CMOS image sensor.

  The ECU 20 performs various controls of the vehicle 50, and includes a known CPU, ROM, RAM, input ports, output ports, and the like. As shown in FIG. 2, the ECU 20 includes an image processing unit 21, a lane boundary detection unit 22, a lane departure determination unit 23, an erroneous recognition detection estimation unit 24, and an alarm output processing unit 25 as some functional elements. I have. Each of these functional elements will be described as being included in the ECU 20 which is an integral piece of hardware, but any one of them may be provided in separate hardware.

  The image processing unit 21 performs image processing such as edge extraction on the image transmitted from the CCD camera 11 to generate a lane boundary image for recognizing a white line, a yellow line, or the like that divides the traveling lane LA.

  The lane boundary detection unit 22 processes the image obtained by the image processing unit 21 to detect the lane boundary WL.

  The lane departure determination unit 23 determines whether or not the vehicle 50 has deviated from the traveling lane LA to outside the detected lane boundary WL.

  The erroneous recognition detection estimating unit 24 estimates whether or not erroneous recognition has been detected for the lane boundary line WL.

  The warning output processing unit 25 causes the warning output processing unit 25 to output a lane departure warning when it is determined that the vehicle 50 has deviated from the traveling lane LA. The lane departure warning from the warning output processing unit 25 is a display of an acoustic warning by the speaker 30 and a warning by the display device 31.

  However, the warning output processing unit 25 suppresses the output of the lane departure warning when it is estimated that false recognition has occurred.

  Next, a control operation of the lane departure warning control method according to the present embodiment will be described. FIG. 3 is a flowchart illustrating a control operation of the lane departure warning control method according to the present embodiment. FIG. 4 is a flowchart illustrating a control operation for estimating occurrence of false recognition in the lane departure warning control method according to the present embodiment. FIG. 5 is a flowchart illustrating a control operation in the lane departure warning control method according to the present embodiment. 5 is a flowchart illustrating a control operation when detection occurs. Note that this control operation is repeatedly executed in the ECU 20 at a constant cycle, and the cycle is, for example, 50 [msec].

  6 to 10 are schematic diagrams illustrating five examples relating to a traveling scene of a vehicle. In the following description, the control operation examples according to the flowcharts in FIGS. 3 to 5 will be described with reference to the first to fifth traveling scene examples illustrated in FIGS. 6 to 10.

  First, the control operation in the first running scene example shown in FIG. 6 will be described. In the first traveling scene example, the vehicle 50 is traveling in the traveling lane, for example, in a situation where the entire road surface is covered with snow and it is impossible to specify the lane boundary on both sides.

  In the flowchart shown in FIG. 3, first, in step S101, the lane boundary line detection unit 22 detects the lane boundary line WL, and the control process proceeds to the next step S102.

  In step 102 after step S101, it is determined whether or not the detection of the lane boundary line WL is successful.

  In the present running scene example, since it is difficult to identify the lane boundary lines WL on both sides, the lane boundary line detection unit 22 cannot detect the lane boundary lines WL on both sides of the vehicle 50 (“two-sided failure” in step S102).

  In this case, the control process ends as shown in FIG. That is, when the lane boundary lines WL on both sides are not detected as in the first driving scene example, the process of determining whether or not the lane departure condition described later is satisfied (step S109) is skipped. The output of the departure warning is reliably suppressed. Further, in this case, in order to reduce the processing load on the ECU 20, a process (steps S106 and S107) for estimating the presence / absence of the occurrence of false recognition detection described later is also skipped.

  Next, a control operation in the second traveling scene example shown in FIG. 7 will be described. In the second traveling scene example, the vehicle is traveling in the traveling lane in a situation where the lane boundary lines on both sides can be specified, not in a rough road surface state such as a snowy road. That is, the second running scene example is a normal running state.

  In this case, since the lane boundary lines WL on both sides can be detected by the lane boundary line detection unit 22 in step S102 (“both sides succeeded” in step S102), the control process shifts from step S102 to step S103.

In step S103 after step S102, the distance to the lane boundary WL on both sides detected by the lane boundary detection unit 22 is calculated. Here, the distance D _L to the lane boundary lines WL on the left side is calculated with respect to the vehicle 50, the distance D _R to the right of the lane boundary line WL is calculated for the vehicle 50, the control processing step S104 Move to

At step which the process proceeds from step S103 S104, the distance _D L to the lane boundary lines WL on both sides of detection, the _{D R,} is compared with the alarm threshold _{D TH} stored in advance in the lane deviation determining portion 23. Then, the control process shifts from step S104 to step S109. The alarm threshold value D _TH can be preferably changed by a user operation, and can be changed within a range of, for example, 0.0 to 0.15 [m].

  In step S109 after step S104, the lane departure determination unit 23 determines whether the lane departure condition is satisfied. Here, since the lane departure condition is not satisfied ("NO" in step S109), the control process ends. In this case, it goes without saying that the lane departure warning is not issued.

  Further, in the second example of the running scene, since it is confirmed that the lane departure condition is not satisfied, it is not necessary to execute a process (steps S106 and S107) for estimating the presence or absence of occurrence of false recognition detection described later. .

  Next, a control operation example in the third traveling scene example shown in FIG. 8 will be described. In the third running scene example, the vehicle 50 has begun to deviate outside the lane boundary line WL on one side (right side) in a situation where the lane boundary lines WL on both sides can be specified.

  In this case, the control process is the same as the second running scene example up to the point where the control process proceeds from step S101 to step S102, and then to step S103, and then to step S109 after step S104.

  In step S109, it is determined that the lane departure condition is satisfied ("YES" in step S109). Therefore, the control process proceeds to step S110.

  In step S110 after step S109, the warning output processing unit 25 performs a lane departure warning output process. Thereby, the output of the alarm sound by the speaker 30 and the display of the alarm by the display device 31 are performed.

  Further, in the third running scene example, since the lane boundary lines WL on both sides are detected, the likelihood of the detection result is considered to be high. S106 and S107) are skipped.

  Next, a control operation in the fourth running scene example shown in FIG. 9 will be described. In the fourth running scene example, it is impossible to specify the lane boundary line on one side (left side), and at least a part of the lane boundary line WL on the other side (right side) that can be specified is covered with snow P, for example. In this situation, the vehicle 50 is traveling in the traveling lane.

  In this case, in step S102, which has shifted from step S101, the lane boundary line detection unit 22 detects one-side lane boundary WL ("one-sided success" in step S102), so the control process shifts from step S102 to step S105. I do.

In step S105, which has shifted from step S102, the separation distance to the one side (right side) lane boundary WL detected by the lane boundary detection unit 22 is calculated. Here, the distance D _R of the vehicle 50 to the right of the lane boundary line WL is calculated, the control process proceeds to step S106.

  In step S106 shifted from step S105, the erroneous detection detection estimating unit 24 estimates whether or not erroneous detection has occurred, and the control process shifts to step S107.

  Here, the estimation performed in step S106 will be described in more detail with reference to FIG.

First, in step S106a, it is determined whether or not a condition A, which is one of the conditions under which the occurrence of false recognition detection is suspected, is satisfied. The condition A is that the distance to the lane boundary lines WL detected from the vehicle 50 (distance D _R in this _example) is less than or equal to a predetermined value (e.g. 0.2 [m]). If the condition A is satisfied (“YES” in step S106b), it is determined in step S106c whether a predetermined time, for example, 5 [sec] has elapsed since the start of the condition A at that time. . It is considered that it is extremely rare that the vehicle stays very close to the lane boundary line WL without leaving the lane boundary line WL. In this case, the detected object is not the lane boundary line WL but is suspected to be snow. Can be estimated. After execution of step S106c, the control process proceeds to step S106d. If the condition A is not satisfied ("NO" in step S106b), the control process skips step S106c and shifts to step S106d.

In step S106d, it is determined whether or not a condition B, which is another condition in which occurrence of erroneous recognition is suspected, is satisfied. The condition B is that the separation distance from the vehicle 50 to the detected lane boundary line WL (the separation distance D _{R in} this example) is instantaneously reduced (that is, the vehicle approaches the lane boundary line WL rapidly), and the instantaneous change thereof. That is, the absolute value of the amount (that is, the approach width) is equal to or more than a predetermined value (for example, 0.5 [m]). As described above, the execution cycle of the control operation is 50 [msec]. However, it is considered that it is extremely rare that the vehicle suddenly approaches the lane boundary WL in this moment of 50 [msec]. It can be estimated that the detected one is not the lane boundary line WL but the snow is suspected. Regarding the order of the control processing, the order of steps S106a to S106c and step S106d may be opposite to the above, or steps S106a to S106c and step S106d may be executed simultaneously and in parallel.

Thus, in step S106a～S106d, false detection estimating unit 24, the calculated distance (the distance _{D R} in this example) based on whether corresponding to the above two conditions A, B, lane The presence or absence of occurrence of erroneous recognition detection of the boundary line WL is estimated. If a predetermined time has passed since the start of the condition A, or if the condition B was satisfied, it is determined in the subsequent step S107 that false recognition of the lane boundary WL has occurred (in the step S107). “YES”). In this case, a control operation at the time of occurrence of misidentification detection shown in FIG. 5 described later is executed, and after this control operation, a process of determining whether or not the lane departure condition is satisfied (step S109) is not executed. The control process ends. That is, the output of the lane departure warning is reliably suppressed.

Further, in the case of the suppression based on the lapse of a predetermined time (5 [sec] in this example) after the condition A is satisfied, the condition that the condition A is not satisfied is used as the suppression end condition, and the lane boundary WL It is advisable to suppress the lane departure warning as long as the proximity to the vehicle continues. On the other hand, in the case of the suppression based on the condition B, the suppression of the lane departure warning may be continued unconditionally for several seconds, for example, 3 [sec]. More specifically, as shown in FIG. 5, in step S1071, which is a transition from step S107 (FIG. 3), it is determined whether the condition for false recognition detection is condition A or condition B. The process shifts to step S1072, and if the condition is B, the control process shifts to step S1073. In step S1072, the detected lane boundary line WL on one side is re-detected and the separation distance to the lane boundary line WL (the separation distance D _{R in} this example) is recalculated. It is determined whether or not to continue. Then, as long as the condition A is satisfied (“YES” in step S1072), this determination is continued, and when the condition A is not satisfied (“NO” in step S1072), the control operation at the time of occurrence of misidentification detection is performed. Ends. Meanwhile, in step S1073, it is determined whether or not 3 [sec] has elapsed since the condition B was satisfied. Until 3 [sec] has elapsed (“NO” in step S1073), this determination is made. Is continued, and when 3 [sec] has elapsed (“YES” in step S1073), the control operation at the time of occurrence of an erroneous detection ends.

Although this example is taken as an example a case where the lane boundary line WL of the right only is detected, the lane boundary on the left only is detected, allows the same control operation even if only distance D _L is calculated Needless to say,

In addition, as a result of the estimation in step S106, if none of the above two conditions A and B in which the occurrence of false recognition is suspected corresponds, no false detection of the lane boundary line WL has occurred in step S107. (“NO” in step S107). In this case, the calculated separation distance (in this example, the separation distance D _R ) is compared with the warning threshold value D _TH (step S108), and it is determined whether or not the lane departure condition is satisfied based on the result (step S108). Step S109). Here, if the lane departure condition is not satisfied (“NO” in step S109), the control process ends without issuing a lane departure warning, while if the lane departure condition is satisfied (“YES” in step S109). "), The control process proceeds to step S110, and the output process of the lane departure alarm is performed by the alarm output processing unit 25 as described above. In the fifth running scene example shown in FIG. 10, it is impossible to specify such a lane boundary WL on one side (right side), and the vehicle 50 is outside the lane boundary WL on the other side (right side). This shows a situation where deviation has started.

  As described in detail above, the lane departure warning device 10 of the present embodiment estimates whether or not the lane boundary WL is erroneously recognized, and sets the lane on the condition that it is estimated that the lane boundary WL is erroneously recognized. Suppress departure alerts. Thus, unnecessary lane departure warnings on rough roads such as snowy roads can be suppressed. Not only on snowy roads, but also when the road surface is rough due to a rut or the like formed on the road surface, it is estimated whether or not the lane boundary line WL is erroneously recognized, and it is estimated that the lane boundary line WL is erroneously recognized. Unnecessary lane departure warnings can be suppressed by suppressing lane departure warnings on the condition that they have been performed. Further, the presence / absence of false recognition detection is estimated only when the lane boundary line WL on only one side is detected, and the estimation is not performed otherwise. Therefore, the conventional lane departure warning device or the lane departure warning Changes from the control method can be minimized.

  The present invention is not limited to the embodiments described above, and can be appropriately modified and implemented without departing from the spirit of the present invention.

  For example, in the present embodiment, the vehicle 50 has been described as a large-sized vehicle such as a truck, but can be widely applied to other vehicles such as a passenger car.

Reference Signs List 10 lane departure warning device 22 lane boundary detection unit 23 lane departure determination unit 24 misidentification detection estimation unit 25 alarm output processing unit 50 vehicle LA traveling lane WL lane boundary

Claims (6)

On a rough road surface, a lane boundary detection unit that detects a lane boundary that defines the traveling lane of the vehicle,
A lane departure determination unit that determines whether the vehicle has deviated from the traveling lane to outside the detected lane boundary line,
An alarm output processing unit that outputs a lane departure warning when it is determined that the vehicle deviates from the traveling lane,
An erroneous detection detection estimating unit that estimates whether or not an erroneous detection has occurred for the detected lane boundary;
Has,
The false recognition detection estimating unit, when a lane boundary of only one side of the traveling lane is detected, estimates the presence or absence of occurrence of false recognition detection for the detected lane boundary of only one side,
The alarm output processing unit suppresses the output of the lane departure warning on condition that it is estimated that the false recognition detection has occurred.
Lane departure warning device. On a rough road surface, a lane boundary detection unit that detects a lane boundary that defines the traveling lane of the vehicle,
A lane departure determination unit that determines whether the vehicle has deviated from the traveling lane to outside the detected lane boundary line,
An alarm output processing unit that outputs a lane departure warning when it is determined that the vehicle deviates from the traveling lane,
An erroneous detection detection estimating unit that estimates whether or not an erroneous detection has occurred for the detected lane boundary;
Has,
The misidentification detection estimating unit, when the state in which the distance from the vehicle to the detected lane boundary line is equal to or less than a predetermined value continues for a predetermined time, estimates that erroneous detection has occurred for the detected lane boundary line,
The warning output processing unit suppresses the output of the lane departure warning on the condition that it is estimated that the false recognition detection has occurred,
Lane departure warning device. On a rough road surface, a lane boundary detection unit that detects a lane boundary that defines the traveling lane of the vehicle,
A lane departure determination unit that determines whether the vehicle has deviated from the traveling lane to outside the detected lane boundary line,
An alarm output processing unit that outputs a lane departure warning when it is determined that the vehicle deviates from the traveling lane,
An erroneous detection detection estimating unit that estimates whether or not an erroneous detection has occurred for the detected lane boundary;
Has,
When the distance from the vehicle to the detected lane boundary line is instantaneously reduced, and the absolute value of the instantaneous change is equal to or greater than a predetermined value, the erroneous detection detection estimating unit detects erroneous detection of the detected lane boundary line. Is estimated to have occurred,
The alarm output processing unit suppresses the output of the lane departure warning on condition that it is estimated that the false recognition detection has occurred.
Lane departure warning device. On rough road, detects the lane boundary line which defines the traveling lane of vehicles, from the vehicle the traveling lane, it is determined whether or not deviate outside of the detected lane boundary line, the vehicle A lane departure warning control method executed in the vehicle, wherein when it is determined that the vehicle has deviated from the traveling lane, a lane departure warning is output from an alarm output unit,
When a lane boundary line on only one side of the traveling lane is detected, it is estimated whether or not a false recognition detection has occurred for the detected lane boundary line on only one side,
When it is estimated that the false recognition detection has occurred, suppresses the output of the lane departure warning,
Lane departure warning control method. On a rough road surface, a lane boundary that defines a traveling lane of the vehicle is detected, and it is determined whether the vehicle has deviated from the traveling lane to outside of the detected lane boundary, and the vehicle When it is determined that the vehicle has deviated from the traveling lane, a lane departure warning is output from the warning output unit, the lane departure warning control method executed in the vehicle,
Estimate the occurrence of false recognition detection for the detected lane boundary,
If the state in which the distance from the vehicle to the detected lane boundary line is equal to or less than a predetermined value continues for a predetermined time, it is estimated that erroneous detection has occurred for the detected lane boundary line,
When it is estimated that the false recognition detection has occurred, suppresses the output of the lane departure warning,
Lane departure warning control method. On a rough road surface, a lane boundary that defines a traveling lane of the vehicle is detected, and it is determined whether the vehicle has deviated from the traveling lane to outside of the detected lane boundary, and the vehicle When it is determined that the vehicle has deviated from the traveling lane, a lane departure warning is output from the warning output unit, the lane departure warning control method executed in the vehicle,
Estimate the occurrence of false recognition detection for the detected lane boundary,
When the distance from the vehicle to the detected lane boundary line is instantaneously reduced, and when the absolute value of the instantaneous change amount is equal to or greater than a predetermined value, it is estimated that erroneous recognition detection has occurred for the detected lane boundary line,
When it is estimated that the false recognition detection has occurred, suppresses the output of the lane departure warning,
Lane departure warning control method.

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