JPH0981757A - Vehicle position detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately find a vehicle position according to only one white line even when it is difficult to detect the white line by measuring the position and travel direction of the vehicle about the white line in the lane where the vehicle travels according to the position and tilt angle in a road image of a straight line connecting two points on the white line in the road image. SOLUTION: A white line detecting means 101a detects two points S2 and S3 on a left-side white line 20 and a vehicle state measuring means 101b finds the straight line L1 connecting the two points S2 and S3, the intersection S1 of the straight line L1 and the horizontal line H on a display screen 1, and the tilt angle θ of the straight line L1 to the horizontal line H. Even if the white lines 20 and 30 on the road are hardly detected, the vehicle position and travel direction can easily be and accurately be found from table values read out corresponding to the intersection S1 and tilt angle θobtained from the straight line L1 connecting the two points S2 and S3 on the white line 20 by using interpolative operation, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle position detecting device for detecting the position of a host vehicle based on a road image in front of the vehicle. Particularly, the vehicle position can be detected from a small amount of white line information and the safety is improved. And a vehicle position detection device.

[0002]

2. Description of the Related Art FIG. 5 and FIG.
It is explanatory drawing which shows operation | movement of the conventional vehicle position detection apparatus described in 28059 gazette (document 1). In the figure, 1
Is a display screen of a road image in front of the vehicle captured by a vehicle-mounted video camera (not shown), 20 and 30 are two white lines displayed in the traveling lane of the own vehicle, and P is a white line 20 on each horizontal scanning line. Midpoint of 30 and 30, Q is white line 20
And the vanishing point determined by the intersection of 30 extension lines, a
And b are the ratios of the horizontal scanning lines divided by the perpendicular line from the vanishing point Q.

In this case, first, as shown in FIG. 5, left and right white lines 20 and 30 for each horizontal scanning line on the display screen 1.
Is detected, the midpoint P of the horizontal line segment that connects the edges of the left and right white lines 20 and 30 is obtained, and the midpoint P of the vehicle is detected by sequentially connecting the midpoints P.
Thereafter, the white lines 20 and 30 are approximated by a quadratic curve, and as shown in FIG. 6, the vehicle traveling position on the lane is measured with the division ratio a: b of the horizontal line segment by the perpendicular line descending from the vanishing point Q.

Therefore, the white lines 20 on both left and right sides of the lane
Both and 30 must be detected, and if at least one white line cannot be detected due to dirt or shade, the vehicle position cannot be detected.

FIG. 7 shows, for example, Japanese Patent Laid-Open No. 7-1054.
FIG. 10 is an explanatory diagram showing the operation of the conventional vehicle position detection device described in Japanese Patent Publication No. 98 (Reference 2), in which 40 is a running vehicle,
41 is a traveling lane of the vehicle 40, 42 and 43 are side edges of the traveling lane 41, 44 is an estimated traveling path of the vehicle 40, and R is a side edge 4
3 is an intersection of the estimated traveling path 44 and φ is an angle formed by the estimated traveling path 44 with respect to the side edge 43.

In this case, although not shown, the vehicle position detecting device mounted on the vehicle 40 detects a side edge detecting means for detecting the side edges 42 and 43 of the traveling lane 41, and an advance route 44 for the vehicle 40. The vehicle includes road estimation means, lane departure prediction means for predicting departure of the vehicle 40 from the traveling lane 41, and warning means or traveling direction (steering angle) correction means responsive to the lane departure prediction means.

If the warning means or the traveling direction correcting means in the vehicle position detecting device satisfies the following condition (1) or (2), an alarm operation or a traveling direction correcting operation is performed in order to avoid a trouble in traveling of the vehicle. Run. (1) An angle φ formed by the estimated traveling path 44 of the vehicle 40 and the side edge 43 of the traveling lane 41 is larger than a predetermined angle. (2) The distance from the vehicle 40 to the intersection R between the estimated traveling path 44 and the side edge 43 is shorter than the predetermined distance determined according to the vehicle speed of the vehicle 40.

In order to realize the above warning function or safety function, side edges 42 and 43 on both left and right sides of the driving lane 41 are provided.
Need to detect. Further, in order to obtain the angle φ within the condition (1), it is necessary to convert a two-dimensional road image into a three-dimensional positional relationship, so that a large-scale calculation device capable of executing complicated arithmetic processing is used. Requires a long calculation time.

Although not shown, for example, Japanese Patent Laid-Open No. 7-
The conventional vehicle position detection device described in Japanese Patent No. 93699 (Document 3) obtains a value obtained by correcting the steering angle to the distance between the lane position and the vehicle, and this distance equivalent value is a predetermined distance (vehicle speed If the winker is not operated when the time is shorter than (correspondingly set), an alarm is generated. Also in this case, it is necessary to detect the edges on both sides of the traveling lane of the vehicle, as in the case of Document 1 and Document 2 above.

[0010]

As described above, the conventional vehicle position detecting device detects the white lines 20 and 30, the side edges 42 and 43, or the edges on the left and right sides in any of the literatures 1 to 3 as described above. Therefore, there is a problem in that the vehicle position cannot be detected only from one of the white lines, the side edge or the edge.

Further, in the case of Document 2, a large apparatus and a large amount of time are required to calculate the angle φ between the estimated traveling path 44 of the vehicle 40 and the side edges 42 and 43 of the traveling lane 41. There was a point.

The present invention has been made to solve the above problems, and it is not always necessary to detect the white lines on both sides, and it is difficult to detect the white lines on the road in the forward lane. Another object of the present invention is to obtain a vehicle position detecting device that can accurately determine the vehicle position based on only one white line.

Another object of the present invention is to obtain a vehicle position detecting device which can predict a lane departure of a vehicle and can easily and safely travel by using a relatively simple calculation method based on a two-dimensional road image. To do.

[0014]

According to a first aspect of the present invention, there is provided a vehicle position detecting device, which is mounted on a vehicle to capture an image of a road ahead of the vehicle, and at least two on a white line in the road image. Vehicle state measurement for measuring the position and traveling direction of the vehicle with respect to the white line in the lane in which the vehicle is traveling based on the white line extraction means for obtaining points and the position and inclination angle of the straight line connecting the two points on the white line on the road image. And means.

A vehicle position detecting device according to a second aspect of the present invention is the vehicle position measuring device according to the first aspect.
The position and traveling direction of the vehicle are measured based on the position of the intersection of the straight line and the underline of the display screen of the road image and the inclination angle of the straight line.

According to a third aspect of the present invention, there is provided a vehicle position detecting device, which is mounted on a vehicle to capture an image of a road ahead of the vehicle, and at least two points on each of two white lines in the road image. The lane in which the vehicle travels, based on the position of the apex of the triangle formed by the white line extracting means for obtaining and the straight line connecting the two points on each white line and extending and the horizontal line in the road image. And vehicle state measuring means for measuring the traveling direction of the vehicle with respect to the white line inside.

The vehicle position detecting device according to a fourth aspect of the present invention is the vehicle position detecting device according to the third aspect, wherein the position of the intersection of one of the straight lines and the underline of the display screen of the road image, and the inclination angle of the straight line. Based on the above, the position of the vehicle is measured.

A vehicle position detecting device according to a fifth aspect of the present invention is the vehicle position detecting device according to any one of the first to fourth aspects, wherein the yaw rate detecting means for detecting the yaw rate of the vehicle and the vehicle speed for detecting the vehicle speed of the vehicle. Lane detecting means for estimating the traveling path of the vehicle based on the yaw rate and vehicle speed, and lane departure for predicting whether or not the vehicle deviates from the traveling lane within a predetermined time based on the traveling path of the vehicle. And a prediction means.

The vehicle position detecting device according to a sixth aspect of the present invention is the vehicle position detecting device according to the fifth aspect, wherein the blinker detecting means detects the operating state of the winker of the vehicle, and the lane departure predicting means and the winker detecting means respond to the alarm. And means,
The warning means issues a warning if the winker is not operating when the vehicle is predicted to deviate from the driving lane.

The vehicle position detecting device according to a seventh aspect of the present invention is the vehicle position detecting device according to the fifth aspect, wherein the blinker detecting means for detecting an operating state of the winker of the vehicle, the lane departure predicting means and the winker detecting means respond to each other. The traveling direction correcting means automatically corrects the traveling direction of the vehicle so as to avoid the departure state if the winker is not operating when it is predicted that the vehicle deviates from the traveling lane. It is a thing.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. Embodiment 1 of the present invention will be described below with reference to the drawings. 1 is a block diagram showing a schematic configuration of a first embodiment of the present invention, in which 100 is an image pickup means or a camera which is mounted on a vehicle and captures a road image G in front of the vehicle, and 101 is based on the road image G. The vehicle position and the traveling direction (direction) with respect to the white line in the traveling lane are the vehicle state D.
Vehicle position detecting means for detecting as.

The vehicle position detecting means 101 is a white line extracting means 101 for obtaining at least two points on the white line in the road image G.
Vehicle state measuring means 101 for measuring the state D (position and traveling direction) of the vehicle with respect to the white line based on the position on the road image G and the inclination angle of a straight line connecting two points on the white line with a.
b.

Next, referring to the explanatory view of FIG.
The operation of the first embodiment of the present invention shown in FIG. In FIG. 2, 1, 20 and 30 are the same as those described above, C is the center line of the display screen 1 corresponding to the center of the camera 100, H is the underline or horizontal line of the display screen 1,
S2 and S3 are extracted on the white line 20 on the left side of the screen 2
A point, L1 is a straight line formed by connecting two points S2 and S3, S1 is an intersection of the straight line L1 and the horizontal line H, and θ is a straight line L1.
And the horizontal line H.

First, the road image G ahead of the vehicle taken by the vehicle-mounted camera 100 is used as the vehicle position detecting means 101.
It is taken in by the white line extracting means 101a inside and is recognized as the display screen 1 as shown in FIG. White line extraction means 101a
Detects the white lines 20 and 30 on the left and right sides in the display screen 1 in order to recognize the position of the vehicle in the traveling lane. At this time, the white lines 20 and 30 can be detected as, for example, linear portions located below the display screen 1 that are brighter and have higher contrast than the surrounding image.

However, the white lines 20 and 30 cannot be provided with sufficient contrast due to being soiled, damaged, or hidden in the shade depending on environmental conditions, and only one white line on one side can be detected. It may be detected as a dot because it cannot be obtained.

Therefore, the white line extracting means 101a detects, for example, two points S2 and S3 on the white line 20 on the left side,
The vehicle state measuring means 101b obtains a straight line L1 connecting the two points S2 and S3, an intersection S1 of the straight line L1 and the horizontal line H of the display screen 1, and an inclination angle θ of the straight line L1 with respect to the horizontal line H.

If the camera 100 is mounted in the center of the vehicle, the center line C of the display screen 1 will coincide with the center of the camera 100. Now, assuming that the vehicle is traveling on the center line of the lane so as to be parallel to the white lines 20 and 30, a case is assumed where the vehicle deviates to the left side in the lane while traveling.

At this time, the closer the vehicle is to the left, the closer the intersection S1 between the straight line L1 approximating the white line 20 on the left side and the horizontal line H is to the center line C in the display screen 1, and at the same time,
The inclination angle θ of the straight line L1 with respect to the horizontal line H becomes large.
Therefore, if the position of the intersection S1 and the inclination angle θ are measured, the vehicle position in the traveling lane can be detected.

On the other hand, assuming that the traveling direction of the vehicle (that is, the direction of the camera 100) is not parallel to the white line 20 but is directed to the left side, the straight line L1 and the horizontal line H that approximate the white line 20 on the left side. The position of the intersection S1 is the display screen 1
Although approaching the upper center line C, the inclination angle θ of the straight line L1 becomes smaller. Therefore, if the intersection S1 and the inclination angle θ are measured, not only the vehicle position in the traveling lane but also the traveling direction (direction) of the vehicle can be detected.

In the measurement of the vehicle state based on the intersection S1 and the inclination angle θ as described above, since the parameters such as the mounting position of the camera 100, the mounting angle and the viewing angle are included, the intersection S1 and the inclination are calculated or calculated. It is desirable to previously store, as a table, combination data of the angle θ and the vehicle position and traveling direction in the traveling lane.

As a result, the white lines 20 and 30 on the road
2 points S on the white line 20 even if it is difficult to detect
From the table values read corresponding to the intersection point S1 and the inclination angle θ obtained from the straight line L1 connecting 2 and S3,
The vehicle position and the traveling direction can be easily and accurately obtained by using an interpolation calculation or the like.

As described above, the white line 20 on one side, for example, the left side
At least two points S2 and S3 above are obtained, and from the inclination angle θ of the straight line L1 connecting the two points S2 and S3, and the position of the intersection S1 between the screen underline, that is, the horizontal line H and the straight line L1,
It is possible to measure the vehicle position and traveling direction (direction) in the traveling lane. Therefore, the vehicle position and direction can be detected as the vehicle state D from the position on the display screen 1 of the straight line L1 that approximates the white line 20 by two points.

Embodiment 2 FIG. Although the vehicle state is measured from the straight line connecting the two points on the white line on one side in the first embodiment, the vehicle state may be measured from the straight line connecting the two points on the white lines 20 and 30 on both sides. Hereinafter, referring to the explanatory view of FIG. 3 together with FIG. 1, the white lines 20 and 30 on both sides are shown.
A second embodiment of the present invention will be described in which the vehicle state is measured based on two straight lines related to.

In FIG. 3, 1, 20, 30, C, H,
L1, S1 to S3 and θ are the same as those described above (FIG. 2), S4 and S5 are two points extracted on the white line 30 on the right side, and L2 is a straight line formed by connecting two points S4 and S5. , T is the intersection of straight lines L1 and L2, that is, the horizontal line H
, U is the intersection of the vertical line descending from the vertex T and the horizontal line H.

In this case, the white line extracting means 101a in FIG.
Are two white lines 20 and 3 on the left and right sides in the road image G.
Determine at least two points S2 and S3 and S4 and S5 respectively on 0. Further, the vehicle state measuring means 101b
Is a straight line L1 extending by connecting two points S2 and S3 and S4 and S5 on the white lines 20 and 30, respectively.
And L2 and the horizontal line H in the road image G form a triangle, and the traveling direction of the vehicle with respect to the white lines 20 and 30 is measured based on the vertex position of the triangle with respect to the horizontal line H, that is, the intersection point U.

As shown in FIG. 3, the left and right white lines 20 and 30 can be detected, and two points S2 on the left white line 20 can be detected.
And S3 and two points S4 and S5 on the right white line 30.
When is detected, first, a straight line L1 connecting the two left-side points S2 and S3, a straight line L2 connecting the right-side two points S4 and S5, and the horizontal line H form a triangle, and the horizontal line of the vertex T is formed. The position on H (the position of the intersection U) is detected.

If the traveling direction of the vehicle is white lines 20 and 3
If the direction is parallel to 0, the position of the intersection U coincides with the center line C of the display screen 1 imaged by the camera 100. If the traveling direction of the vehicle is toward the left white line 20, the intersection U is located at the center line C as shown in FIG.
Bias to the right rather than. Conversely, if the traveling direction of the vehicle is toward the white line 30 on the right side, the position of the intersection U is offset to the left side of the center line C.

Therefore, by detecting the position of the intersection U (the position of the vertex T on the horizontal line H), the traveling direction (direction) of the vehicle can be detected. In this case as well, by storing the measured data in advance as a table value, the orientation of the vehicle can be easily and accurately obtained.

Further, the vehicle state measuring means 101b uses the detected vehicle direction as a parameter, and shows a data table showing the relationship between the vehicle position and the inclination angle θ of the straight line L1, or the vehicle position and the position of the intersection S1. The vehicle position can be obtained from the data table indicating the relationship.

Thus, the white lines 20 and 3 on both the left and right sides are
The direction of the vehicle can be detected from the position of the intersection U of the two straight lines L1 and L2 that approximate 0, and the straight line L1
It is possible to detect the vehicle position in the traveling lane from the inclination angle θ and the position of the intersection S1 with respect to the horizontal line H. In this case, since the information of the white line 30 on the right side is also used, the vehicle state D (position and direction) can be obtained more accurately as compared with the first embodiment.

Here, each 2 on each white line 20 and 30
The straight lines L1 and L2 were obtained using the points S2 to S5,
The straight lines L1 and L2 may be obtained using three or more points to further improve the detection accuracy of the vehicle position and direction.

Embodiment 3. In the first and second embodiments described above, the vehicle state D (position and orientation) is only measured using the image information of at least one of the white lines 20 and 30, but the vehicle state D The estimated traveling path of the vehicle predicted from the above may be obtained, and the warning means or the traveling direction correcting means may be linked based on the estimated traveling path. The third embodiment of the present invention will be described below with reference to the block diagram of FIG. 4 so as to cooperate with the warning means or the traveling direction correcting means.

4, 1, 101, D and G are the same as those described above (FIG. 1), 102 is a yaw rate sensor for detecting the yaw rate Y of the vehicle, and 103 is a vehicle speed sensor for detecting the vehicle speed V of the vehicle. Reference numeral 104 denotes a traveling state determination device that determines the traveling state E of the vehicle based on the vehicle state D, the yaw rate Y, and the vehicle speed V. Reference numeral 105 denotes a blinker detecting means that outputs a blinker operating signal W when the operating state of the blinker of the vehicle is detected. A winker switch, 106 is a control device that outputs control signals A and B based on the traveling state E of the vehicle and a winker actuation signal W, 107 is an alarm device driven by the control signal A, and 108 is driven by the control signal B. It is means for correcting the traveling direction.

Although not shown, the traveling state determination device 104 has a traveling route estimating means for estimating the traveling route of the vehicle based on the vehicle state D, the yaw rate Y and the vehicle speed V, and a predetermined time period based on the estimated traveling route of the vehicle. The vehicle includes a lane departure prediction means for predicting whether or not the vehicle deviates from the traveling lane.

If the winker operation signal W is not obtained when it is predicted that the vehicle deviates from the traveling lane within a predetermined time based on the traveling state E, the control device 106 drives the alarm device 107 by the control signal A. A warning is generated and the traveling direction correcting means 108 is driven by the control signal B to automatically correct the traveling direction so as to avoid the lane departure state.

Therefore, the warning device 107 and the traveling direction correction means 108, via the control device 106, the traveling state E obtained from the deviation prediction means in the traveling state determination device 104 and the winker operation signal obtained from the winker switch 105. It is designed to respond to W.

First, similarly to the above, the vehicle position detecting means 101 processes the road image G captured by the camera 100 to obtain the vehicle state D (position and direction). The traveling state determination device 104 determines whether the vehicle is turning based on the output data (vehicle state D) from the vehicle position detection means 101 and the detection signal (yaw rate Y) from the yaw rate sensor 102. If it is turning, calculate its angular velocity.
Further, the traveling state determination device 104 determines the estimated traveling path of the vehicle based on the detection signal (vehicle speed V) from the vehicle speed sensor 103.

Furthermore, since the running condition determination device 104 has already recognized the shape of the driving lane from the road image G,
Based on the estimated estimated traveling path, the number of seconds after which the vehicle departs from the lane is determined. If the calculated departure time is equal to or shorter than the predetermined time, there is a possibility that the vehicle will deviate from the lane within the predetermined time. Therefore, the running state E for which an alarm should be issued is output to the control device 106.

The control device 106 takes in the winker operation signal W together with the traveling state E, and if the winker is operating and the winker operation signal W is input, the driver changes lanes or changes direction to change the direction. Considered willing to turn in lane. Therefore, the control device 106 does not output the control signals A and B even when the traveling state E to be alarmed is input.

However, if the winker is not operating and the winker operating signal W is not input, the control device 106 determines that the driver has no intention of changing lanes or changing directions. Therefore, since the vehicle may deviate from the lane within a predetermined time, the control device 106 outputs the control signals A and B in response to the traveling state E to be alarmed and causes the alarm device 107 to generate an alarm. ,
The traveling direction correcting means 108 automatically corrects the traveling direction to avoid deviation from the lane.

At this time, at least one of voice and screen display can be used as the alarm. Further, as a specific method of correcting the traveling direction of the vehicle, a method of automatically steering at least one of the front wheels and the rear wheels, a method of controlling torque distribution between the front wheels and the rear wheels, or a method of correcting the four wheels A method of independently performing brake control or the like may be applied.

As described above, not only the vehicle state D (position and traveling direction) in the traveling lane, but also the estimated traveling path of the vehicle is obtained from the yaw rate Y and the vehicle speed V, and the vehicle may deviate within the predetermined time. It is determined whether or not there is a lane departure within a predetermined time, the winker operation signal W is not obtained, and if it is determined that the driver has no intention of changing lanes and changing direction, an alarm is issued. It is possible to correct the traveling direction so as to prevent the lane departure from occurring.

At this time, the vehicle position detecting means 101 obtains the vehicle state D based on the position of the straight line L1 or L2 on the two-dimensional road image G, and the running state determination device 10
In 4, the possibility of lane departure of the vehicle is predicted and determined based not only on the vehicle state D but also on the yaw rate Y and the vehicle speed V, so that the calculation process associated with the detection and the determination is simplified, and speeding up and downsizing are promoted. And cost reduction can be realized.

In the third embodiment, when there is a possibility that the vehicle deviates from the lane and the winker operation signal W is not obtained, the alarm device 107 and the traveling direction correcting means 108 are driven via the control device 106. However, the running state E indicating whether or not the vehicle may deviate from the lane may be reflected in driving any other device.

Further, in the third embodiment, when there is a possibility that the vehicle deviates from the lane, the control device 106 causes the alarm device 1 to operate.
Although both 07 and the traveling direction correcting means 108 are driven, it is sufficient to drive at least one of the alarm device 107 and the traveling direction correcting means 108.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an operation according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing an operation according to the second embodiment of the present invention.

FIG. 4 is a block diagram showing a schematic configuration of a third embodiment of the present invention.

FIG. 5 is an explanatory diagram showing an operation of the first example of the conventional vehicle position detection device.

FIG. 6 is an explanatory diagram showing an operation of a second example of the conventional vehicle position detection device.

FIG. 7 is an explanatory diagram showing an operation of a third example of the conventional vehicle position detection device.

[Explanation of symbols]

1 display screen, 20, 30 white line, 100 camera (imaging means), 101a white line extracting means, 101b vehicle state measuring means, 102 yaw rate sensor, 103 vehicle speed detecting means, 104 running state determining device, 105 winker switch, 106 control device, 107 Alarm device, 10
8 traveling direction correction means, A and B control signals, C center line,
D vehicle state, E running state, G road image, H horizontal line (underline), L1, L2 straight line, S1 intersection, S2, S
32 points, S4, S52 points, T vertex, U intersection, V
Vehicle speed, W winker operation signal, Y yaw rate, θ tilt angle.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Internal reference number FI Technical display location G06T 1/00 G08G 1/16 C G08G 1/16 D H04N 7/18 J H04N 7/18 G06F 15 / 62 380 // B62D 101: 00 137: 00

Claims (7)

[Claims] 1. An image pickup means mounted on a vehicle for picking up a road image in front of the vehicle, a white line extracting means for determining at least two points on a white line in the road image, and connecting two points on the white line. A vehicle position detecting device comprising: vehicle position measuring means for measuring the position and traveling direction of the vehicle with respect to the white line in the lane in which the vehicle is traveling, based on the position of the straight line on the road image and the inclination angle. 2. The vehicle state measuring means measures the position and traveling direction of the vehicle based on the position of the intersection of the straight line and the underline of the display screen of the road image and the inclination angle of the straight line. The vehicle position detecting device according to claim 1, wherein: 3. An image pickup means mounted on a vehicle to take a road image ahead of the vehicle, and at least two on each of two white lines in the road image.
Based on the position of the apex with respect to the horizontal line of a triangle formed by a white line extracting unit that obtains a point, each straight line that connects and extends each two points on each white line and a horizontal line in the road image, A vehicle position detecting device comprising: vehicle state measuring means for measuring a traveling direction of the vehicle with respect to the white line in a lane in which the vehicle is traveling. 4. The position of the vehicle is measured based on a position of an intersection of one of the straight lines and an underline of a display screen of the road image, and an inclination angle of the straight line. The vehicle position detection device according to claim 3. 5. A yaw rate detecting means for detecting a yaw rate of the vehicle, a vehicle speed detecting means for detecting a vehicle speed of the vehicle, and a traveling path estimating means for estimating a traveling path of the vehicle based on the yaw rate and the vehicle speed. The lane departure predicting means for predicting whether or not the vehicle departs from the traveling lane within a predetermined time based on the traveling path of the vehicle, according to any one of claims 1 to 4. Vehicle position detection device. 6. A winker detecting means for detecting an operating state of a winker of the vehicle, and an alarm means responsive to the lane departure predicting means and the winker detecting means, wherein the alarm means is configured such that the vehicle is in the traveling lane. The vehicle position detection device according to claim 5, wherein if the winker is not activated when it is predicted to deviate from the above, an alarm is generated. 7. A winker detecting means for detecting an operating state of a winker of the vehicle, and a traveling direction correcting means responsive to the lane departure predicting means and the winker detecting means, wherein the traveling direction correcting means is the vehicle. 6. The traveling direction of the vehicle is automatically corrected so as to avoid the departure state if the winker is not operating when it is predicted that the vehicle departs from the traveling lane. Vehicle position detection device.