JP6657714B2 - Alarm device - Google Patents

Description

  The present invention relates to an alarm device that outputs a departure warning indicating that a vehicle is deviating from a lane.

  2. Description of the Related Art Conventionally, a warning device that outputs a departure warning indicating that a vehicle is deviating from a lane is mounted on the vehicle. On the other hand, when the alarm device outputs a departure warning when the vehicle deviates from the lane during the operation intentionally performed by the driver, the driver may feel uncomfortable. In consideration of this point, Patent Document 1 discloses an alarm device that does not output a departure warning when the blinker is operating and determines that the driver intentionally causes a lane departure. I have.

JP 2006-331323 A

  When changing the lane, the driver may activate the turn signal after starting the lane change. In the conventional alarm device, if the vehicle deviates from the lane before the blinker is operated, a deviation alarm is output. However, if a departure warning is output even though the driver intentionally changes lanes, the driver may feel uncomfortable.

  Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide an alarm device that can suppress output of an unnecessary deviation alarm.

  In the present invention, an output unit that outputs a departure warning indicating that the vehicle is deviating from the lane, an output control unit that controls whether or not to output the departure warning to the output unit, and operation of the vehicle An alarm device comprising: a prohibition unit that prohibits the output control unit from outputting the departure warning to the output unit based on a frequency at which a person visually recognizes a mirror of the vehicle.

  The prohibition unit accumulates, over a predetermined determination period, visual information indicating that a visual angle formed by a direction in which the driver visually recognizes the vehicle and a frontal direction of the driver is within a predetermined range, thereby obtaining the frequency. May be calculated. In this case, the prohibition unit accumulates the visual recognition information having a value based on a visual recognition angle formed by a direction in which the driver visually recognizes and a frontal direction of the driver over the predetermined determination period, thereby calculating the frequency. It may be calculated.

  The prohibition unit may calculate the frequency based on the number of times the driver has visually recognized the mirror during a predetermined determination period.

  In addition, the prohibition unit may include a driver seat side mirror viewing frequency, which is a frequency at which the driver views the driver seat side mirror of the vehicle, and a frequency at which the driver views the passenger seat side mirror of the vehicle. The output control unit may prohibit the output unit from outputting the departure alarm based on the passenger seat side mirror visibility frequency.

  ADVANTAGE OF THE INVENTION According to the alarm apparatus which concerns on this invention, it can suppress outputting an unnecessary deviation alarm.

FIG. 1 is a block diagram illustrating a configuration of a vehicle according to a first embodiment. It is a flowchart which shows the outline | summary of operation | movement of the control part of an alarm device. It is a figure which shows the positional relationship of a driver's seat, a driver's seat side mirror, and a passenger's seat side mirror. It is a flowchart which shows the detail of operation | movement of the 1st prohibition part of an alarm device. It is a figure for explaining operation of a warning device when a driver changes a lane. It is a figure for explaining operation of a warning device when a driver changes a lane in a 2nd embodiment.

<First embodiment>
[Configuration of Vehicle 1]
FIG. 1 is a block diagram illustrating a configuration of a vehicle 1 according to the first embodiment. The vehicle 1 includes a road photographing device 10, a driver photographing device 20, a blinker control device 30, and an alarm device 40.

  The road photographing device 10 includes, for example, a CCD camera. The road photographing device 10 photographs a lane in which the vehicle 1 is traveling and a lane boundary (for example, a white line) that is a boundary between the lane and an adjacent lane, and generates road image data. The road photographing device 10 outputs the road image data to the alarm device 40.

  The driver photographing device 20 includes, for example, a CCD camera. The driver photographing apparatus 20 photographs the face of the driver sitting in the driver's seat 2 from the front, and generates driver image data. The driver photographing device 20 outputs the driver image data to the alarm device 40.

  The turn signal control device 30 controls the operation of the turn signal based on the operation of the driver. The turn signal control device 30 outputs to the alarm device 40 the turn signal information regarding whether or not the turn signal is operating.

The warning device 40 outputs a departure warning indicating that the vehicle 1 is deviating from the lane when the vehicle 1 is deviating from the lane. The warning device 40 determines whether the vehicle 1 is deviating from the lane based on the road image data input from the road photographing device 10.
The warning device 40 does not output a departure warning even when the vehicle 1 is deviating from the lane in a situation where the output of the departure warning should be prohibited. The warning device 40 determines whether or not the output of the departure warning should be prohibited based on the driver image data input from the driver imaging device 20 and the winker information input from the winker control device 30. judge.

  The warning device 40 determines whether or not to output a departure warning based on the frequency at which the driver of the vehicle 1 has visually recognized the mirror of the vehicle 1 (hereinafter, may be referred to as the mirror visibility frequency). The alarm device 40 is, for example, a mirror calculated by accumulating, over a predetermined determination period, visual recognition information indicating that a visual recognition angle formed by the driver's visual recognition direction and the driver's front direction is within a predetermined range. It is determined whether to output a departure warning based on the viewing frequency. When the viewing angle is within a predetermined range, the alarm device 40 may calculate the mirror viewing frequency by integrating the viewing angles. The details of the method by which the alarm device 40 calculates the mirror viewing frequency will be described later.

[Configuration of Alarm Device 40]
Hereinafter, the configuration of the alarm device 40 will be described. The alarm device 40 has a control unit 41 and an output unit 45.

  The control unit 41 includes, for example, a CPU, a ROM, and a RAM. The control unit 41 functions as a departure determination unit 42, an output control unit 43, and a prohibition unit 44 when the CPU executes a program stored in the ROM. The control unit 41 is based on the road image data input from the road imaging device 10, the driver image data input from the driver imaging device 20, and the information regarding the operating state of the winker input from the winker control device 30, Control the output of departure warning. The prohibition unit 44 includes a first prohibition unit 441 and a second prohibition unit 442. The first prohibition unit 441 determines whether or not to prohibit the output of the departure warning based on the mirror viewing frequency. The second prohibition unit 442 determines whether to prohibit the output of the departure warning based on whether the blinker is in the operating state.

  For example, the output unit 45 includes a speaker. The output unit 45 outputs a departure warning indicating that the vehicle 1 is deviating from the lane based on the control from the control unit 41. The output unit 45 may include a display that displays the departure warning by text or an image.

[Overview of Operation of Control Unit 41]
Subsequently, an outline of the operation of the control unit 41 will be described with reference to a flowchart. FIG. 2 is a flowchart showing an outline of the operation of the control unit 41.
While the vehicle 1 is traveling, the departure determination unit 42 determines whether the vehicle 1 is deviating from the lane (S11).

  When the vehicle 1 has deviated from the lane (YES in S11), the output control unit 43 checks whether the first prohibition unit 441 prohibits the output of the departure warning based on the mirror visibility frequency (S12). ). If the mirror visibility frequency is high, it is considered that the vehicle 1 has deviated from the lane due to the driver intentionally performing a lane change operation, so the first prohibition unit 441 prohibits the output of the departure warning. When the first prohibition unit 441 prohibits the output of the departure warning (YES in S12), the output control unit 43 does not cause the output unit 45 to output a warning (S15).

  If the first prohibiting unit 441 does not prohibit the output of the departure warning (NO in S12), the output control unit 43 determines whether the second prohibiting unit 442 prohibits the output of the departure warning based on the operation state of the turn signal. It is confirmed whether or not it is (S13). When the turn signal is in the operating state, it is considered that the vehicle 1 is deviating from the lane due to the driver intentionally performing the lane change operation, and thus the second prohibition unit 442 prohibits the output of the departure warning. . When the second prohibition unit 442 prohibits the output of the departure warning (YES in S13), the output control unit 43 does not output the warning to the output unit 45 (S15). In addition, when the second prohibition unit 442 does not prohibit the output of the departure warning (NO in S13), the output control unit 43 causes the output unit 45 to output the departure warning (S14).

  Hereinafter, the operations of the departure determination unit 42, the first prohibition unit 441, and the second prohibition unit 442 of the control unit 41 will be described in detail.

[Operation of departure determination unit 42]
The departure determining unit 42 determines whether or not the vehicle 1 has deviated from the lane based on the road image data input from the road photographing device 10. The departure determination unit 42 compares, for example, reference image data captured in a state where a part (for example, tires) of the vehicle 1 has reached the lane boundary with road image data input from the road imaging device 10. Then, it is determined whether the vehicle 1 has deviated from the lane. The departure determination unit 42 outputs a determination result indicating whether the vehicle 1 is deviating from the lane to the output control unit 43.

  The departure determination unit 42 measures the distance between the vehicle 1 and the lane boundary of the lane in which the vehicle 1 is traveling based on the road image data, and determines whether or not the vehicle 1 is deviating from the lane based on the measured distance. May be determined. In this case, the departure determination unit 42 determines that the vehicle 1 is deviating from the lane, for example, when the distance between the vehicle 1 and the lane boundary is smaller than a predetermined value. By doing so, the departure determination unit 42 can determine that the vehicle 1 is deviating from the lane before a part (for example, a tire) of the vehicle 1 reaches the lane boundary.

[Operation of First Prohibition Unit 441]
The first prohibition unit 441 calculates the mirror visibility frequency based on the driver image data input from the driver imaging device 20, and determines whether to prohibit the output of the departure warning based on the calculated mirror visibility frequency. judge. Specifically, the first prohibition unit 441 determines the mirror viewing frequency based on a period during which the driver is viewing the driver's side mirror 4 or the passenger's side mirror 5 during the predetermined determination period Ta. calculate. The determination period Ta is a period (for example, 3 seconds) of the length of Ta in the past from the time when the first prohibiting unit 441 calculates the mirror viewing frequency.

  The first prohibiting unit 441 sets the range in which the position visually recognized by the driver corresponds to the driver's seat side side mirror 4 or the range corresponding to the passenger's seat side side mirror 5 at each sampling timing at intervals equal to or shorter than the determination period Ta. It is determined whether or not it is included. The first prohibiting unit 441 is configured to allow the driver to drive when the position visually recognized by the driver is included in a range corresponding to the driver's seat side side mirror 4 or a range corresponding to the passenger's seat side side mirror 5. It is determined that the seat side mirror 4 or the passenger side mirror 5 is visually recognized. The first prohibition unit 441 specifies the position visually recognized by the driver, for example, based on the direction of the driver's face in the driver image data, the position of the iris, and the like.

  FIG. 3 is a diagram showing a positional relationship between the driver's seat 2 on which the driver sits, the driver's seat side mirror 4 and the passenger's seat side mirror 5. The visual recognition direction D (t) in FIG. 3 is the direction of a straight line connecting the center point P1 of the driver's seat 2 and the visual recognition point P2 which is the position where the driver is visually recognizing. The front direction C is a longitudinal direction of the vehicle 1. The viewing angle θ (t) is an angle formed by the driver's viewing direction D (t) and the front direction C of the driver sitting in the driver's seat 2. The angle θ1, which is the lower limit of the angle range corresponding to the position of the driver's seat side mirror 4, is, for example, the direction of a straight line D1 connecting the front direction C, the inner end of the driver's seat side mirror 4, and the center point P1. Is the angle formed by

  Further, since the driver can visually recognize a position slightly deviated from the visual recognition point P2, as shown in FIG. 3, the angle θ1 is different from the front direction C and the inner end of the driver's seat side side mirror 4 from the inside. May be the angle formed by the direction of the straight line D1 passing through the inside.

The angle θ2, which is the upper limit of the angle range corresponding to the position of the driver's seat side mirror 4, is, for example, the direction of a straight line D2 connecting the front direction C, the outer end of the driver's seat side mirror 4, and the center point P1. Is the angle formed by Further, as shown in FIG. 3, the angle θ2 may be an angle formed by the front direction C and the direction of a straight line D2 passing outside the outer end of the driver's seat side mirror 4.
The angles θ3 and θ4 corresponding to the position of the passenger side side mirror 5 are determined in the same manner as the angles θ1 and θ2 corresponding to the position of the driver side side mirror 4.

  The first prohibiting unit 441 determines that the driver's viewing angle θ (t) at the time t is within the angle range θ1 to θ2 corresponding to the position of the driver's seat side side mirror 4 at the time t. It is determined that the driver is looking at the driver's seat side side mirror 4. In addition, the first prohibition unit 441 determines that the driver's visual recognition angle θ (t) at the time t is within the angle range θ3 to θ4 corresponding to the position of the passenger's seat side side mirror 5, It is determined that the driver is looking at the passenger side mirror 5 at the time.

  FIG. 4 is a flowchart illustrating details of the operation of the first prohibition unit 441. Hereinafter, the operation of the first prohibition unit 441 will be described in detail with reference to FIG. The first prohibition unit 441 can calculate the viewing frequency using, for example, any of the following methods. Hereinafter, each method will be described.

(Method of integrating visual recognition information indicating the state of viewing the mirror)
First, the first prohibition unit 441 specifies the viewing direction D (t) that the driver is viewing at the current time (time t) based on the driver image data input from the driver imaging device 20 (S21). ). Next, the first prohibition unit 441 calculates a viewing angle θ (t) formed by the viewing direction D (t) and the front direction C (S22). Subsequently, the first prohibition unit 441 determines whether or not the driver is looking at the driver's seat side side mirror 4. Specifically, the first prohibition unit 441 determines whether or not the current viewing angle θ (t) is within the angle range θ1 to θ2 corresponding to the position of the driver's seat side side mirror 4 (S23). ).

  Subsequently, the first prohibition unit 441 generates viewing information f (t), which is information having a different value depending on whether the viewing angle θ (t) is within an angle range corresponding to the position of the mirror. . For example, when the viewing angle θ (t) is within the angle range θ1 to θ2 (YES in S23), the first prohibiting unit 441 takes the first value (for example, “1”), and the viewing angle θ (t) becomes If it is not within the angle range θ1 to θ2 (NO in S23), the visual recognition information f (t) having the second value (for example, “0”) is generated (S24, S25).

Subsequently, the first prohibition unit 441 calculates the mirror visibility frequency F (t) by integrating f (t) in the determination period Ta before time t (S26). More specifically, as shown in the following equation (1), the visual recognition information f (t) from the time point (time t-Ta) to the current time point (time t), which is a predetermined determination period Ta before the current time, is calculated. The integration is performed to calculate the mirror viewing frequency F (t).

  Subsequently, the first prohibition unit 441 determines whether or not the mirror viewing frequency F (t) is equal to or higher than a predetermined threshold E (S27). When the mirror visibility frequency F (t) is equal to or greater than the threshold value E (YES in S27), the first prohibition unit 441 prohibits the output control unit 43 from outputting a departure warning to the output unit 45 (S28). The first prohibition unit 441 outputs first alarm prohibition information including data “1” to the output control unit 43, for example. When the integrated value is less than the threshold value E (NO in S27), the first prohibition unit 441 permits the output control unit 43 to output the departure warning to the output unit 45 (S29). The first prohibition unit 441 outputs first alarm prohibition information including, for example, data “0” to the output control unit 43. By doing so, the first prohibiting unit 441 outputs a warning when the driver changes the lane after frequently viewing the driver's side mirror 4 because the driver intentionally deviates from the lane. Can be prevented.

  Note that the first prohibition unit 441 also performs the viewing information f (t) during the period in which the viewing angle θ (t) is within the angle range θ3 to θ4, that is, during the period in which the driver views the position of the front passenger side side mirror 5. ) May be the first value. In this case, the first prohibiting unit 441 recognizes the driver's seat side mirror viewing frequency F1 (t), which is the frequency at which the driver has viewed the driver's seat side mirror 4, and the driver has visually recognized the passenger's seat side mirror 5. The passenger side side mirror visibility frequency F2 (t), which is the frequency, may be calculated, and the output of the departure warning may be prohibited based on F1 (t) and F2 (t). For example, the first prohibition unit 441 prohibits the output of the departure warning when the sum of F1 (t) and F2 (t) is equal to or greater than a predetermined threshold E. By doing so, the first prohibition unit 441 can make a determination in consideration of the fact that the driver is visually recognizing the passenger-side side mirror 5, so that the driver has an intention to change lanes. The determination can be made with higher accuracy.

(Method of calculating integrated value by weighting according to viewing angle)
The first prohibiting unit 441 integrates the viewing information f (t) having a value based on the viewing angle θ (t) when viewing the driver's seat side mirror 4 or the passenger's seat side mirror 5, The mirror viewing frequency F (t) may be calculated. For example, the first prohibition unit 441 causes the output unit 45 to output a departure warning based on the result of integrating the viewing angles θ (t) during a period in which the viewing angle θ (t) is within the angle range θ1 to θ2. It is determined whether or not the operation is prohibited. In this case, the first prohibition unit 441 determines that the viewing information f (t) = the absolute value of the viewing angle | θ (during the period in which the viewing angle θ (t) falls within the angle range corresponding to the mirror within the determination period Ta. t) |, and during a period in which the viewing angle θ (t) is not within the angle range corresponding to the mirror, the viewing information f (t) = 0.

  The deviation of the driver's viewing direction D (t) from the front direction C is larger when the viewing angle θ (t) is the angle θ2 than when the viewing angle θ (t) is the angle θ1. It is considered that the viewing direction D (t) is shifted from the front direction C with a strong intention. Therefore, the first prohibition unit 441 can reflect the degree of the driver's intention on the mirror visibility frequency F (t) by integrating the absolute value of the visibility angle θ (t), and output the deviation alarm. It is possible to more strongly reflect the driver's intention in the determination of whether or not to prohibit.

  In the above description, the first prohibiting unit 441 calculates the mirror viewing frequency F (t) by integrating the absolute value of the viewing angle θ (t), but is not limited thereto. There is no. The first prohibition unit 441 calculates the mirror viewing frequency F (t) based on, for example, the integrated value of the difference between the viewing angle θ (t) and the minimum value θ1 of the angle range of the driver's seat side mirror 4. Is also good. In addition, the first prohibition unit 441 calculates the integrated value of the difference between the minimum value θ1 of the angle range of the driver's seat side mirror 4 and the minimum value θ3 of the viewing angle θ (t) and the angle range of the passenger seat side mirror 5. The mirror visibility frequency F (t) may be calculated based on a value obtained by adding the integrated value of the difference with the mirror viewing frequency F (t).

Further, the first prohibition unit 441 multiplies the viewing angle θ (t) of the driver's seat side mirror 4 and the viewing angle θ (t) of the passenger seat side mirror 5 by different weighting factors. May be used to calculate the visual recognition information f (t). For example, during a period in which the driver is visually recognizing the driver's seat side mirror 4, the visual information f (t) = a1 × | θ (t) −b1 |, and the driver visually recognizes the passenger's seat side mirror 5. During this period, f (t) = a2 × | θ (t) −b2 |
Here, a1 and a2 are arbitrary weighting coefficients. By using the weighting coefficients a1 and a2, the contribution ratio of the driver's visual recognition of the driver's seat side mirror 4 to the mirror visual frequency F (t), and the fact that the driver's visual recognition of the front passenger's seat side mirror 5 are considered. The contribution rate to the mirror viewing frequency F (t) can be adjusted appropriately. b1 and b2 are arbitrary constants, for example, θ1 and θ3.

[Operation of Second Prohibition Unit 442]
The second prohibition unit 442 determines whether or not to prohibit the output of the departure warning based on the information regarding the operating state of the winker input from the winker control device 30. Specifically, the second prohibition unit 442 prohibits the output control unit 43 from outputting the departure warning to the output unit 45 when the blinker is operating. For example, the second prohibition unit 442 outputs the second alarm prohibition information including the data “1” to the output control unit 43. In addition, the second prohibition unit 442 permits the output control unit 43 to output the departure warning to the output unit 45 when the turn signal is not operating. For example, the second prohibition unit 442 outputs the second alarm prohibition information including the data “0” to the output control unit 43.

[Specific example of operation of alarm device 40 according to the present embodiment]
FIG. 5 is a diagram for explaining the operation of the alarm device 40 when the driver changes lanes. Hereinafter, a specific example of the operation of the alarm device 40 according to the present embodiment will be described with reference to FIGS. FIGS. 5A to 5G respectively show the viewing angle θ (t), the viewing information f (t), the mirror viewing frequency F (t), the first warning prohibition information, and the like when the driver changes lanes. It is a schematic diagram which shows the mode of change of 2nd alarm prohibition information, deviation information, and alarm output. Here, when changing the lane, the driver starts to operate the steering wheel after visually recognizing the mirror in the order of the driver's seat side mirror 4, the passenger's seat side mirror 5, and the driver's seat side mirror 4. An example of operating the turn signal will be described.

  When the driver starts viewing the mirror, the driver's viewing angle θ (t) falls within the angle range θ1 to θ2 corresponding to the position of the driver's seat side side mirror 4 (time t11 in FIG. 5A). . When the viewing angle θ (t) is within the angle range θ1 to θ2, the first prohibition unit 441 sets the viewing information f (t) to | θ (t) −θ1 | (FIG. 5B). Thereafter, when the driver's viewing angle θ (t) falls within the angle range θ3 to θ4 corresponding to the position of the passenger's seat-side side mirror 5 (time t12 in FIG. 5A), the first prohibition unit 441 sets the And the visual recognition information f (t) is set to | θ (t) −θ3 | (FIG. 5B). When the driver's viewing angle θ (t) is out of the angle range θ1 to θ2 and the angle range θ3 to θ4, the first prohibition unit 441 sets the viewing information f (t) to “0”.

  The first prohibition unit 441 calculates the mirror visibility frequency F (t) by integrating the visibility information f (t) based on the above equation (1) (FIG. 5C). For example, the first prohibition unit 441 calculates the mirror visibility frequency F (t12) at time t12 by integrating the visibility information f (t) from time t12-Ta to time t12.

  When the mirror viewing frequency F (t) becomes equal to or greater than the threshold value E (time t13 in FIG. 5C), the first prohibition unit 441 rewrites the first alarm prohibition information from 0 to 1 (FIG. 5D). For this reason, even if the vehicle 1 deviates from the lane due to the driver operating the steering wheel after visually recognizing the mirror (time t14 in FIG. 5F), the output control unit 43 sends the output signal to the output unit 45. Departure warning is not output (FIG. 5 (g)). When the driver operates the turn signal, the second prohibition unit 442 rewrites the second alarm prohibition information from 0 to 1 (time t15 in FIG. 5E).

[Effects of the Alarm Device 40 According to the Present Embodiment]
According to the present embodiment, before the second prohibition unit 442 prohibits the output of the departure warning based on the operation of the turn signal, the first prohibition unit 441 is controlled based on the fact that the driver has visually recognized the mirror. The output of the departure warning can be prohibited. By doing so, the first prohibition unit 441 can suppress the output unit 45 from outputting a departure warning when the driver departs from the lane while the driver has the intention to change lanes. Therefore, it is possible to suppress the driver from feeling uncomfortable.

  Further, according to the present embodiment, the first prohibiting unit 441 sets the predetermined value in a period in which θ1 ≦ θ (t) ≦ θ2 or θ4 ≦ θ (t) ≦ θ3 is satisfied over the predetermined determination period Ta. Are integrated, and the mirror viewing frequency F (t) is calculated. By doing so, the first prohibition unit 441 can prohibit the output of the departure warning when the time during which the driver is viewing the mirror is longer than a predetermined time.

  In addition, the first prohibition unit 441 uses the viewing angle θ (t) as the viewing information f (t) to reflect the degree of the driver's movement of the line of sight in the mirror viewing frequency F (t). be able to. By doing so, the driver's intention can be strongly reflected in the determination as to whether or not the first prohibition unit 441 prohibits the output of the departure warning.

<Second embodiment>
The first prohibition unit 441 of the alarm device 40 according to the first embodiment calculates the mirror visibility frequency F (t) by integrating the visibility information f (t) during the predetermined determination period Ta. On the other hand, the first prohibition unit 441 according to the second embodiment uses the number of times the driver of the vehicle 1 has visually recognized the mirror during the determination period Ta as the mirror visibility frequency F (t). The number of times the driver has visually recognized the mirror is the number of times that the driver has changed from a state in which the driver has not visually recognized the mirror to a state in which the driver has visually recognized the mirror during the determination period Ta. The operations of the departure determination unit 42, the output control unit 43, the second prohibition unit 442, and the output unit 45 of the alarm device 40 are the same in the first embodiment and the second embodiment.

[Specific example of operation of alarm device 40 according to the present embodiment]
FIG. 6 is a diagram for explaining the operation of the alarm device 40 when the driver changes lanes. Hereinafter, a specific example of the operation of the alarm device 40 according to the present embodiment will be described with reference to FIGS. FIGS. 6A to 6G respectively show the viewing angle θ (t), the viewing information f (t), the mirror viewing frequency F (t), the first warning prohibition information, and the like when the driver changes lanes. It is a schematic diagram which shows the mode of change of 2nd alarm prohibition information, deviation information, and alarm output. In FIGS. 6A to 6G, the manner of change of the viewing angle θ (t), the second alarm prohibition information, and the deviation information is the same as in the first embodiment.

  When the driver starts viewing the mirror, the driver's viewing angle θ (t) falls within the angle range θ1 to θ2 corresponding to the position of the driver's seat side side mirror 4 (time t21 in FIG. 6A). . When the viewing angle θ (t) falls within the angle range θ1 to θ2 from outside the angle range θ1 to θ2, the first prohibition unit 441 sets the viewing information f (t) = 1 (FIG. 6B). Thereafter, when the driver's viewing angle θ (t) enters the angle range θ3 to θ4 from outside the angle range θ3 to θ4 corresponding to the position of the front passenger side side mirror 5, (time t22 in FIG. 6A). ), The first prohibition unit 441 sets the visibility information f (t) = 1 (FIG. 6B). When the driver's viewing angle θ (t) is out of the angle range θ1 to θ2 and the angle range θ3 to θ4, and the viewing angle θ (t) is the angle range θ1 to θ2 or the angle range θ3 at the immediately preceding sampling timing. In the case where it is within θ4, the first prohibition unit 441 sets the visibility information f (t) = 0.

  The first prohibition unit 441 counts the number of times that the visibility information f (t) is 1 during the determination period Ta, and calculates the mirror visibility frequency F (t). In the example illustrated in FIG. 6, the first prohibition unit 441 counts the number of times that the visual recognition information f (t) has become 1 from time t22-Ta to time t22, and thereby performs the mirror visual recognition at time t22. The frequency F (t22) is calculated as 2.

  When the mirror viewing frequency F (t) becomes equal to or greater than a threshold value (for example, 2) (time t22 in FIG. 6C), the first prohibition unit 441 rewrites the first alarm prohibition information from 0 to 1 (FIG. 6D). )). Therefore, even if the vehicle 1 deviates from the lane due to the driver operating the steering wheel after visually recognizing the mirror (time t23 in FIG. 6F), the output control unit 43 sends the output signal to the output unit 45. Departure warning is not output (FIG. 6 (g)).

[Effects of the Alarm Device 40 According to the Present Embodiment]
Also in the present embodiment, similarly to the case of the first embodiment, the driver visually recognizes the mirror before the second prohibition unit 442 prohibits the output of the departure warning based on the operation of the turn signal. Based on this, the first prohibition unit 441 can prohibit the output of the departure warning. By doing so, the first prohibition unit 441 can suppress the output unit 45 from outputting a departure warning when the driver departs from the lane while the driver has the intention to change lanes. Therefore, it is possible to suppress the driver from feeling uncomfortable. Further, according to the present embodiment, the mirror viewing frequency F (t) can be easily calculated by counting the number of times the driver of the vehicle 1 has viewed the mirror during the determination period Ta.

  As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be made to the above embodiment. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  For example, the first prohibition unit 441 of the alarm device 40 determines whether or not the frequency at which the driver visually recognizes the rearview mirror instead of or in addition to the frequency at which the driver visually recognizes the driver's seat side mirror 4 and the passenger's seat side mirror 5. Based on this, the output control unit 43 may prohibit the output unit 45 from outputting a departure warning.

Reference Signs List 1 vehicle 2 driver's seat 4 driver's seat side mirror 5 passenger's seat side mirror 10 road photographing device 20 driver photographing device 30 turn signal control device 40 alarm device 41 control unit 42 departure determination unit 43 output control unit 44 prohibition unit 441 first Prohibition unit 442 Second prohibition unit 45 Output unit

Claims (5)

A departure determining unit that determines whether or not the vehicle is deviating from the lane based on road image data obtained by capturing an image of a traveling lane of the vehicle;
An output unit that outputs a deviation warning indicating that the vehicle is deviating from the lane,
An output control unit that controls whether to output the deviation alarm to the output unit,
A first prohibition unit that prohibits the output control unit from outputting the deviation alarm to the output unit when the frequency at which the driver of the vehicle visually recognizes the mirror of the vehicle is equal to or greater than a threshold value ;
A second prohibition unit that prohibits the output control unit from outputting the departure warning to the output unit in a state where the turn signal is operating,
The output control unit includes:
When the first prohibition unit prohibits the output of the departure warning, the departure warning is output regardless of whether the second prohibition unit prohibits the output of the departure warning. Judge not to let
The first prohibition unit does not prohibit the output of the departure warning, and the second prohibition unit does not output the departure alarm when prohibiting the output of the departure alarm.
The first prohibition unit and the second prohibition unit do not prohibit the output of the departure warning, and the departure warning is issued when the departure determination unit determines that the vehicle is deviating from the lane. Output
Alarm device. The first prohibition unit accumulates, over a predetermined determination period, visual recognition information indicating that a visual recognition angle formed by a direction visually recognized by the driver and a frontal direction of the driver is within a predetermined range, The alarm device according to claim 1, wherein the frequency is calculated. The first prohibition unit calculates the frequency by integrating the visual recognition information having a value based on a visual recognition angle formed by a direction in which the driver visually recognizes and a frontal direction of the driver over the predetermined determination period. The alarm device according to claim 2, which performs the alarm. The alarm device according to claim 1, wherein the first prohibition unit calculates the frequency based on the number of times the driver has visually recognized the mirror during a predetermined determination period. The first prohibition unit, and luck Utateseki side side mirror viewing frequency of the driver is viewing the driver's side outside mirror of the vehicle, before SL driver visually recognizes the passenger side outside mirror of the vehicle by summing the aid Tesekigawa side mirror viewing frequency, to calculate the frequency,
The alarm device according to any one of claims 1 to 4.

Images