WO2012169029A1 - 車線逸脱防止支援装置、区分線表示方法、プログラム - Google Patents
車線逸脱防止支援装置、区分線表示方法、プログラム Download PDFInfo
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- WO2012169029A1 WO2012169029A1 PCT/JP2011/063170 JP2011063170W WO2012169029A1 WO 2012169029 A1 WO2012169029 A1 WO 2012169029A1 JP 2011063170 W JP2011063170 W JP 2011063170W WO 2012169029 A1 WO2012169029 A1 WO 2012169029A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Definitions
- the present invention relates to a lane departure prevention support apparatus for recognizing a lane division line and assisting in preventing departure from the lane according to the own vehicle position in a traveling lane, and in particular, a lane departure indicating a recognition state of a lane division line.
- the present invention relates to a prevention support device.
- a lane departure warning device (LDW: Lane Departure Warning) that predicts departure from the lane and sounds an alarm when the on-board camera or image processing device recognizes the white line, and steering for driving in the center of the lane Lane maintenance support device (LKA: Lane added power Keeping Assist) is known.
- LDW Lane Departure Warning
- LKA Lane added power Keeping Assist
- FIG. 1A is an example of a diagram illustrating a display example when a white line is recognized in LDW / LKA and a display example when a white line is not recognized.
- the white line recognition state is displayed as a white line icon on a display device such as a liquid crystal display.
- the white line icon is displayed thick, and when the white line is not recognized, the white line icon is displayed thinly.For example, the white line icon is displayed so that the driver can recognize that the white line is not recognized. Is displayed. If the white line is not recognized, the LDW / LKA cannot predict the departure from the driving lane and sound an alarm, and cannot add steering force to drive the center of the lane.
- the reason why the white line is not recognized is that there is no road marking, the white line is blurred due to faint or heavy rain, etc., the wiper is operating at high speed, or the driver performs a predetermined operation such as changing the lane There are cases where you are doing.
- Fig. 1 (a) by notifying the driver that the LDW / LKA does not operate, it is possible to prevent the driver from overconfusing the LDW / LKA (expecting excessive performance over the LDW / LKA system). Can tell you that support is limited when the white line is not fully recognized.)
- the vehicle verification affixing position ETC (Electronic (Toll Collection) Since the mounting position of the antenna is not preferable, it is possible to tell that the LDW / LKA cannot operate properly due to the camera's field of view being blocked.
- FIG. 1B shows a display example of the white line icon when only the right white line is recognized
- FIG. 1C shows a display example of the white line icon when only the left white line is recognized.
- LDW / LKA can inform the driver of the white line recognition status by displaying only the white line icon on the recognized side thickly and displaying the white line icon on the unrecognized side in the middle. it can.
- FIG. 2 (a) is an example for explaining the angle of view of the camera.
- LDW / LKA is used for image processing such as white line recognition for only a predetermined white line in front of the vehicle entering the angle of view.
- the far end is a few tens of meters away from the vehicle so that the white line recognition accuracy can be maintained, and the front side is not obstructed by a bonnet or the like, and about 10 meters from the vehicle entering the angle of view is the near end.
- the LDW / LKA can recognize the white line from the closer side of the vehicle if the angle of view can be further widened, the situation where only the far white line is not recognized even if the vehicle approaches the white line on one side can be reduced.
- the angle of view is widened, the total number of pixels of the camera does not change. Therefore, if the angle of view is widened, the number of pixels in which the white line appears (occupies) decreases, and the image processing accuracy in the distance decreases. End up. In this case, the calculation accuracy of the curve radius and curvature of the lane is particularly lowered.
- LDW / LKA cameras are often shared with cameras of other driving assistance devices, and these require image processing of distant scenery.
- an auto high beam apparatus that automatically switches between a high beam and a low beam of a headlamp detects a preceding vehicle or an oncoming vehicle several hundred meters ahead with a camera and switches the beam direction. For this reason, it is not preferable that the detection accuracy of the preceding vehicle or the oncoming vehicle is lowered by widening the angle of view.
- the pedestrian detection device that detects the pedestrian and alerts the driver, the alerting will be delayed if the distant pedestrian cannot be detected, so the detection accuracy of the distant pedestrian can be increased by widening the angle of view. It is not preferable that the decrease.
- LDW / LKA employs a camera (lens) with a relatively narrow angle of view that does not degrade the image processing accuracy of distant images.
- FIG. 2B is an example of a diagram for explaining restrictions on the white line recognition area.
- the calculation load of image processing such as white line recognition is generally high.
- white lines exist on the right and left sides of the center of the image. Therefore, in order to reduce the processing load, the LDW / LKA recognizes a white line only from a predetermined minimum area (left white line recognition area and right white line recognition area).
- a predetermined minimum area left white line recognition area and right white line recognition area.
- FIGS. 3A and 3B are examples of diagrams illustrating a situation where the left white line is out of the left white line recognition region. If the vehicle greatly approaches the right white line as shown in FIG. 3 (a), the left white line will deviate from the left white line recognition area as shown in FIG. 3 (b). As described above, as long as the conventional technology is adopted, when the vehicle greatly approaches one of the left and right white lines, only the white line icons as shown in FIGS. 1B and 1C are displayed, and the driver feels uncomfortable. There was a risk of feeling. JP 2007-125968 A
- an object of the present invention is to provide a lane departure prevention support device that can accurately convey a white line recognition state on one side to a driver.
- the present invention relates to a photographing means for photographing a lane marking that divides a driving lane, and a vehicle that recognizes a lane marking from the recognition area of the captured image data and detects the position of the vehicle in the width direction in the driving lane.
- a lane departure prevention support apparatus having position detection means, support means for supporting departure prevention from a driving lane using a recognition result of a lane line, display means for displaying a recognition result of a lane line,
- a recognition result display control means for displaying an unrecognized lane division line in a display mode other than a display mode indicating that it is not recognized according to the vehicle position when one of the left and right white lines is not recognized; Have.
- the present invention can provide a lane departure prevention support device that can accurately convey the white line recognition state on one side to the driver.
- FIG. 1 It is an example of the figure explaining the display mode of a specific unrecognized state. It is an example of the flowchart figure which shows the procedure in which a lane departure prevention assistance apparatus displays a white line recognition state. It is an example of the figure which shows another display example of the gray display of a specific unrecognized state. It is a figure which shows an example of a different white line icon in the display mode of a specific unrecognized state, and the display mode of a recognized state and an unrecognized state. It is a figure which shows an example of a different white line icon in the display mode of a specific unrecognized state, and the display mode of a recognized state and an unrecognized state.
- Lane recognition camera 11 Lane recognition camera 12 Deviation prevention support ECU 13 Meter ECU 14 Power steering ECU 15 Camera ECU 16 Main SW 19 Vehicle speed sensor 20 Brake SW DESCRIPTION OF SYMBOLS 21 Information display part 41 Unrecognized determination part 42 Distance determination part 43 Display request part 44 Display switching part 45 White line movement determination part 100 Lane departure prevention assistance apparatus
- FIG. 4 is a diagram illustrating an example of a display mode of a white line icon corresponding to a white line recognition state.
- the display mode of the white line icons in the following three white line recognition states will be mainly described.
- ⁇ Recognition state left recognition state, right recognition state
- Specific unrecognized state left unrecognized state, right unrecognized state
- Unrecognized state left unrecognized state, right unrecognized state
- the recognition state refers to a state where a white line is recognized
- the unrecognized state refers to a state where a white line is not recognized.
- the specific unrecognized state is a state in which the white line on the side far from the vehicle is out of the white line recognition area of the image data because the vehicle approaches the right or left white line and is in an unrecognized state. Therefore, the specific unrecognized state is a specific state among the unrecognized states.
- the left and right white lines are displayed as white white line icons on a black background.
- the white line icon of the white line on the side that is not recognized in the unrecognized state is displayed without a white frame.
- a white line icon is displayed in the same display manner as the recognized state. That is, a white line icon that is not actually recognized is displayed as a recognition state.
- the white line icon in the specific unrecognized state is displayed in the same manner as the recognized state. Thus, the uncomfortable feeling felt by the driver can be reduced.
- the white line icon blinks as shown in FIG.
- the icon in the alarm activation state is a white line in any of the recognized state, the specific unrecognized state, and the unrecognized state, such as reversing black and white, blinking the entire display area, or switching the color of the white line icon in a short time.
- the display mode may be different from the icon and has a high alertness.
- the display mode is the same when the vehicle deviates from the right white line and when the vehicle deviates from the left white line, but they can be different.
- the right white line is deviated, only the right white line icon is blinked.
- the left white line is deviated, only the left white line icon is blinked.
- the white line in the present embodiment refers to a travel division line of a lane (travel lane) in which the vehicle travels, and does not have to be white when the driver visually observes it, but yellow, orange, or other colors
- the running line is also included in the white line.
- the camera can shoot with infrared rays or ultraviolet rays, it does not need to be visible.
- the left and right white lines are formed on the road surface with dotted lines instead of solid lines, they are simply referred to as white lines.
- FIG. 5 shows an example of a configuration diagram of the lane departure prevention support apparatus 100 of the present embodiment.
- the lane departure prevention support device 100 is controlled by a departure prevention support ECU (Electronic Control Unit) 12.
- the departure prevention support ECU 12 includes a lane recognition camera 11, a meter ECU 13, a power steering ECU 14, etc. Communication is possible via an in-vehicle network such as Area Network) or FlexRay (via a gateway device if necessary).
- an in-vehicle network such as Area Network
- FlexRay via a gateway device if necessary.
- the vehicle speed sensor 19, brake SW20, blinker SW17, and wiper SW18 are illustrated, these are often connected via an ECU (not shown).
- the lane departure prevention support device operates when the main SW 16 is turned on.
- the lane recognition camera 11 is mounted, for example, in front of the vehicle in an indoor room mirror at a substantially central position in the vehicle width direction, with the optical axis facing slightly downward from the horizontal, and images a predetermined angular range in front of the vehicle.
- the lane recognition camera 11 outputs image data of a predetermined luminance gradation (for example, 256 gradations) every cycle time (for example, 30 to 60 frames / second) by using a CMOS or CCD photoelectric conversion element.
- a predetermined luminance gradation for example, 256 gradations
- cycle time for example, 30 to 60 frames / second
- the lane recognition camera 11 is configured integrally with the camera ECU 15, and the camera ECU 15 performs image processing on the sequentially captured image data, and recognizes the left and right white lines separating the traveling lanes drawn on the road.
- the lane recognition camera 11 and the camera ECU 15 will be described without particular distinction.
- FIG. 6 is an example of a diagram illustrating white line recognition and white line information.
- a method using edge components at both ends of one white line is known.
- edges exceeding the threshold value are detected at both ends of the white line.
- the lane recognition camera 11 verifies the accuracy of the white line based on whether the detected edge strength at both ends, the distance between the detected edges at both ends can be regarded as a white line, etc., and determines whether the white line is recognized. When sufficient accuracy as a white line cannot be obtained, it is determined that the unrecognized state is present.
- the edge inside the white line (the right edge of the left white line, the left edge of the right white line) is indicated by a “+” mark.
- the lane recognition camera 11 estimates the edge line of the white line by connecting the edges in the vertical direction of the image data.
- the straight lines surrounding the left and right white lines indicate the left and right ends of the white line recognition area.
- Such a line is not displayed in a vehicle-mounted state, but since the lane recognition camera 11 recognizes a white line in the white line recognition area, the lane recognition camera 11 always recognizes the white line using the position of the white line recognition area. Yes.
- the lane recognition camera 11 converts the coordinate system of the edge line of the image data into a planar coordinate system obtained by planarly viewing the real space. Then, the edge line is divided into several in the vertical direction (two in the figure), and the Hough transform is performed for each divided range. Alternatively, a straight line may be obtained by the least square method. If the left and right white lines are represented by straight lines, the lane recognition camera 11 can calculate white line information. First, the distance between the left and right straight lines is the lane width W. The line connecting the center of the left and right white lines in the vertical direction is the center line of the left and right white lines. The lane offset position Os is obtained by the number of pixels in which the center pixel of the known camera is deviated from the center line in advance.
- the yaw angle ⁇ is obtained depending on how far the vanishing point of the left and right edge lines is from the center of the image. Further, when a line perpendicular to each of the divided edge lines is drawn to obtain the intersection of a plurality of vertical lines, the distance from the edge line to the intersection becomes the road radius R of the road that is running.
- the lane recognition camera 11 sends the white line information thus obtained (if the left and right white lines are recognized, the lane width W, the offset position Os, the yaw angle ⁇ , the road radius R) to the departure prevention support ECU 12. If any one of the left and right white lines or all the white lines cannot be recognized, the identification information of the unrecognizable white line and the unrecognized information are sent to the departure prevention support ECU 12 as white line information.
- the lane width W and the offset position Os are used for detection of the own vehicle position, but the lane departure prevention support device 100 acquires the own vehicle position and the lane width W by another method. You can also.
- the position at which the navigation device accumulates and detects the vehicle speed and the traveling direction can be used as the vehicle position, and the lane width W can be acquired by the navigation device through road map information or communication with the outside. .
- the on-board laser radar may irradiate the road surface with laser, and the relative position between the white line and the own vehicle may be calculated. Since the white line easily reflects the laser, it is possible to detect the relative angle and positional deviation between the white line and the vehicle by detecting the reflected light from the white line.
- the departure prevention assisting ECU 12 predicts departure from the lane and sounds a lane departure warning (LDW: Lane Departure Warning) for driving in the center of the lane.
- Lane Keeping Support LKA: Lane Keeping
- Assist Lane Keeping Support
- LDW / LKA Conditions under which LDW / LKA operates are as follows. -The main switch is on-The vehicle speed is within a predetermined range (speed range varies depending on laws and regulations)-At least one of the left and right white lines is recognized-The wiper is not operating above a certain speed The turn signal lamp is not lit. The brake pedal is not operated.
- the departure prevention assist ECU 12 indicates that when the main SW 16 is turned on, the turn signal lamp is not lit from the winker SW 17, and the vehicle speed sensor 19 Is in a predetermined range, the wiper SW18 is not operating at high speed, the brake pedal is not operated from the brake SW20, and at least one of the left and right white lines is recognized from the lane recognition camera 11. If it is confirmed, LDW / LKA control is executed.
- the departure prevention assisting ECU 12 requests the meter ECU 13 to display the white line icon in the display mode in the unrecognized state, for example, when at least one condition is not satisfied. Further, when conditions other than the recognition of the white line are satisfied, the meter ECU 13 is requested to display a white line icon corresponding to the white line recognition state by notifying the white line recognition state. Since the white line recognition state may differ between the left and right white lines, the white line recognition state for each of the left and right white lines is notified to the meter ECU 13 at substantially the same timing.
- the departure prevention assistance ECU 12 calculates the time to reach the white line based on the yaw angle ⁇ of the vehicle, the distance to the left or right white line, and the vehicle speed.
- a buzzer request is transmitted to the meter ECU 13 or an ECU responsible for generating a buzzer (not shown).
- the departure prevention assisting ECU 12 requests a visual warning from the meter ECU 13 such as blinking the white line icon.
- the departure prevention assisting ECU 12 calculates an additional torque having a size corresponding to the offset position Os of the vehicle in the white line information and in a direction opposite to the offset position, and transmits it to the power steering ECU 14. Since the power steering ECU 14 applies the received additional torque to the motor 23, steering of the steering wheel is supported so as to travel near the center of the traveling lane.
- the additional torque is, for example, a value proportional to the offset position Os with respect to the center line.
- the braking force of each wheel is controlled individually, for example, using the difference between the braking forces on the inner wheel side and the outer wheel side to advance the vehicle. The direction may be controlled. The braking force of each wheel is controlled by the brake ECU.
- the torque sensor 22 detects the steering torque of the driver, and the power steering ECU 14 reduces the additional torque, which facilitates overriding.
- the driver's intention to change lanes can be detected by the blinker SW 17, and in this case, no additional torque is added as described above.
- FIG. 7A and 7B show an example of a functional block unit of the lane departure prevention support apparatus 100.
- FIG. 7A shows an ECU and the like mainly used.
- FIG. 7B is another example of a functional block diagram, and the departure prevention assisting ECU 12 of FIG. 7B includes a white line movement determination unit 45.
- Each ECU such as the departure prevention support ECU 12 and the meter ECU 13 includes a microcomputer and peripheral circuits such as a power supply IC and a monitoring circuit.
- the departure prevention support ECU 12 includes, for example, a CPU 31, a RAM 32, a ROM 33, and a CANC (CAN controller) 34
- the meter ECU 13 includes, for example, a CPU 35, a RAM 36, a ROM 38, an I / O 39, and a CANC 37.
- the CPU 31 of the departure prevention support ECU 12 implements an unrecognized determination unit 41, a distance determination unit 42, and a display request unit 43 by executing a program stored in the ROM 33 and in cooperation with hardware.
- the CPU 35 of the meter ECU 13 implements the display switching unit 44 by executing a program stored in the ROM 38 and cooperating with hardware.
- the unrecognized determination unit 41 determines whether only the left or right white line is in an unrecognized state based on the white line information.
- the distance determination unit 42 calculates the distance to the white line on the unrecognized side using the offset position Os and the lane width W, and compares it with a threshold value, so that the vehicle is separated from one of the white lines (or It is determined whether or not it is in a specific unrecognized state. Details of this determination will be described later.
- the white line movement determination unit 45 in FIG. 7B detects whether the white line being recognized has moved out of the white line recognition region, thereby determining whether or not a specific unrecognized state is obtained using the white line information. To do. Details of this determination will be described later.
- the display request unit 43 is based on the determination results of the unrecognized determination unit 41 and the distance determination unit 42, or the unrecognized determination unit 41 and the white line movement determination unit 45. Is sent to the meter ECU 13. That is, the display request unit 43 When the left white line is not recognized and the distance to the left white line is equal to or greater than the threshold value (in the case of the specific unrecognized state), the meter ECU 13 is notified that the left white line is in the recognized state. For the white line on the right, the white line recognition state is notified according to the recognition result.
- the meter ECU 13 If the right white line is not recognized and the distance to the right white line is greater than or equal to the threshold value (in the specific unrecognized state), the meter ECU 13 is notified that the right white line is in the recognized state. For the white line on the left, the white line recognition state is notified according to the recognition result. If the left white line is not recognized and the distance to the left white line is not greater than or equal to the threshold value, the meter ECU 13 is notified that the left white line is in an unrecognized state. For the white line on the right, the white line recognition state is notified according to the recognition result.
- the meter ECU 13 If the right white line is not recognized and the distance to the right white line is not greater than or equal to the threshold value, the meter ECU 13 is notified that the right white line is in an unrecognized state. For the white line on the left, the white line recognition state is notified according to the recognition result.
- the display switching unit 44 of the meter ECU 13 switches the display mode of the white line icon displayed on the information display unit 21 according to the white line recognition state.
- the departure prevention assisting ECU 12 includes the unrecognized determination unit 41, the distance determination unit 42, and the display request unit 43, but the meter ECU 13 and other ECUs may partially or entirely include.
- FIG. 8 is a diagram illustrating an example of the meter panel 50.
- the meter panel 50 includes a speedometer 52, a tachometer 51, a fuel gauge 54, a water temperature gauge 53, a shift position display section 55, an information display section 21, and the like.
- the information display unit 21 displays a white line icon indicating a white line recognition state.
- the white line icon may be displayed on, for example, a HUD (Head Up Display) or may be displayed on a liquid crystal display unit of the center console.
- HUD Head Up Display
- the information display unit 21 is a dot type multi-information display (liquid crystal display) in which a plurality of dots (pixels) are arranged vertically and horizontally. In addition to the white line icon, the information display unit 21 displays an odometer, trip meter, instantaneous fuel consumption, average fuel consumption, ECO drive indicator, cruising range, outside temperature, and various warnings.
- the information display unit 21 may be capable of only monochrome display, gray display, or color display.
- FIG. 9 is an example of a diagram illustrating some examples of white line icons in a specific unrecognized state.
- the lane departure prevention support apparatus 100 displays the white line icon in the specific unrecognized state in a display mode different from the white line icon in the unrecognized state.
- the recognition state display mode is a white line icon on a black background
- the unrecognized display mode is a white line icon on a black background.
- the display mode in the specific unrecognized state is the same display mode as the recognized state (white white line icon on a black background).
- the background and the white line icon may be reversed black and white.
- the display state in the recognition state is a black white line icon on a white background
- the display state in the unrecognized state is a white line icon in the middle on a white background.
- the display mode of the specific unrecognized state is the same display mode as the recognized state (black white line icon on a white background).
- the specific unrecognized state is a state where the white line is not recognized, but is recognized in the driver's field of view.
- the unrecognized state is a state in which it is easy for the driver to recognize that the white line is not recognized, such as when the white line is bad or rainy. Accordingly, the departure prevention assisting ECU 12 displays the display state different from the specific unrecognized state and the unrecognized state, and displays the specific unrecognized state and the recognized state in the same display mode, so that the driver can recognize his or her own grasping state. It can be determined that the situation is the same, and the uncomfortable feeling felt by the driver can be reduced.
- the driver can easily learn the meaning of the white line icon as compared with the case where there is a dedicated white line icon in a specific unrecognized state.
- one of the features is that a white line icon that is not recognized by the lane recognition camera 11 is displayed as a white line icon in a recognized state.
- FIG. 10 is an example of a flowchart illustrating a procedure in which the lane departure prevention support apparatus 100 displays a white line recognition state.
- the procedure of FIG. 10 is repeatedly executed when the main SW 16 is turned on, for example.
- the white line information is transmitted to the departure prevention support ECU 12 every time one piece of image data is taken.
- the unrecognized determination unit 41 determines whether or not the left white line is in an unrecognized state based on the white line recognition state included in the white line information (S10).
- the display request unit 43 transmits the recognition state to the meter ECU 13 as the white line recognition state of the left white line.
- the display switching unit 44 displays the white line icon of the left white line in the display state of the recognition state (S30).
- the distance determination unit 42 determines whether or not the distance from the left white line to the vehicle position is greater than or equal to a threshold value (S20).
- FIG. 11 is an example of a diagram illustrating this determination.
- the lane width W and the offset position Os are obtained in the distance determination unit 42 based on the white line information.
- the offset position Os an offset in the right direction from the center line is positive, and an offset in the left direction from the center is negative.
- the own vehicle position (the position of the lane recognition camera 11 but the own vehicle position can be designed as appropriate) is “W / 2 + Os” from the left white line.
- the distance determination unit 42 compares this value with a threshold value, and determines whether the distance from the left white line to the vehicle position is equal to or greater than the threshold value.
- the distance determination unit 24 may use white line information obtained from the previous image data.
- the vehicle position is “W / 2-Os” from the right white line (since Os is negative).
- the distance determination unit 42 adds or subtracts Os to W / 2 when calculating the distance can be determined from the unrecognized white line.
- the direction in which the vehicle is approaching can be determined based on whether Os is positive or negative, it may be determined whether Os is positive or negative.
- the distance determination unit 42 is not based on the distance between the white line on the unrecognized side (the white line far from the vehicle) and the vehicle position, but on the other side based on the distance between the recognized white line and the vehicle position. Since it is close to the white line, it can be detected that one of the white lines is in a specific unrecognized state. As shown in the figure, when the distance between the left unrecognized left line and the vehicle position is about the same as the threshold, the distance between the right white line and the vehicle position is about “lane width W ⁇ threshold”. Therefore, if the lane width W is detected, the distance determination unit 42 can determine that the lane width W is too close to the white line on the right side using the fixed threshold value. That is, when the distance between the right white line and the vehicle position is less than “lane width W ⁇ threshold value”, it is determined that the left white line is in a specific unrecognized state from the white line recognition area.
- a determination criterion “the offset position Os is equal to or greater than a threshold value” can be used. This is because the higher the absolute value of the offset position Os, the higher the possibility of approaching one of the left and right white lines. In this case, whether or not the white line deviates from the white line recognition area differs depending on the lane width W, as is the distance from the recognized white line to the vehicle position. Therefore, the distance determination unit 42 determines that one of the white lines is in a specific unrecognized state when “threshold value ⁇ W / 2 ⁇
- the white line recognition state becomes the specific unrecognized state earlier.
- the distance determination unit 42 corrects the threshold when “Os is positive (approaching to the right) and a left curve” or “Os is negative (approaching to the left) and is a right curve”.
- the threshold value may be reduced as the radius R is smaller (the curve is steeper).
- the display request unit 43 transmits the recognition state to the meter ECU 13 as the white line recognition state of the left white line.
- the display switching unit 44 displays the white line icon of the left white line in the display state of the recognition state (S30). Therefore, the driver looks at the white line icon (recognition state) of the left white line and determines that the white line is recognized as visually observed, so that the driver does not feel uncomfortable.
- the display request unit 43 transmits an unrecognized state to the meter ECU 13 as the white line recognized state of the left white line.
- the display switching unit 44 displays the left white line icon in the unrecognized display mode (S40).
- the white line icon is displayed in a display state of an alarm activation state.
- the white line icon in the alarm operating state returns to the recognized state, the specific unrecognized state, or the unrecognized state when the alarm operating state is canceled.
- FIG. 12 is another example of a flowchart illustrating a procedure in which the lane departure prevention support apparatus 100 displays a white line recognition state. 12, the description of the same steps as those in FIG. 11 is omitted.
- the distance determination unit 42 when the white line on the left is in an unrecognized state (Yes in S10), the distance determination unit 42 does not determine whether the distance from the left white line to the vehicle position is equal to or greater than a threshold value. It is determined whether or not the white line being recognized has moved out of the white line recognition area 45 (S22).
- FIG. 13 is an example of a diagram illustrating this determination.
- the lane recognition camera 11 recognizes white lines using the left and right white line recognition regions.
- the auxiliary lines a and b in FIG. 13 indicate the left end of the left white line recognition area
- the auxiliary lines c and d indicate the right end of the left white line recognition area, respectively.
- FIG. 13A while the vehicle is traveling near the center of the travel lane, the left white line is within the auxiliary lines a to d.
- FIG. 13B when the vehicle travels close to the right white line, the left white line moves to the left side of the auxiliary lines a and b. Further, in the process of transition from the state of FIG. 13A to the state of FIG. 13B, the left white line crosses the auxiliary lines a and b in the left direction.
- the white line movement determination unit 45 of the present embodiment detects that the left white line crosses the auxiliary lines a and b in the left direction, and determines that the specific unrecognized state has been reached. Specifically, the offset amount Os and the white line recognition state included in the past white line information are used. In the process of moving the vehicle to the right, the offset amount Os (positive) gradually increases. Further, the white line on the left is in the recognized state until the specific unrecognized state is reached. Therefore, immediately after the left white line is in an unrecognized state, the past several offset amounts Os tend to increase, so that it can be detected that the left white line crosses the auxiliary lines a and b in the left direction. Further, the fact that the offset amount Os exceeds a predetermined value may be added to the determination condition that the left white line crosses the auxiliary lines a and b in the left direction.
- the determination at S20 in FIG. 10 and the determination at S22 in FIG. 12 can be combined. For example, it may be determined that the specific unrecognized state is satisfied when either S20 or S22 is satisfied, or it may be determined that the specific unrecognized state is satisfied when both S20 and S22 are satisfied.
- the subsequent processing is the same as in FIG. Therefore, the driver looks at the white line icon in the recognition state and determines that the white line is recognized as seen, so that the driver does not feel uncomfortable.
- FIG. 14 is a diagram illustrating an example of a temporal change of the white line icon.
- the white line icon of either the left or right white line is displayed in the recognition state.
- the lane departure prevention support apparatus 100 detects the specific unrecognized state of the left white line, but the icon in the specific unrecognized state is the same as the recognized state. And even if the left white line is formed unclearly in the specific unrecognized state (even if the vehicle enters an unclear area), the white line icon remains in the recognized state because the vehicle is approaching the white line on the right side. It is.
- FIG. 14A since the vehicle is traveling near the center of the travel lane, the white line icon of either the left or right white line is displayed in the recognition state.
- the lane departure prevention support apparatus 100 detects the specific unrecognized state of the left white line, but the icon in the specific unrecognized state is the same as the recognized state. And even if the left white line is formed unclearly in the specific un
- the lane departure prevention support apparatus 100 resumes the recognition of the left white line as soon as the left white line enters the left white line recognition area, but is determined to be unrecognized because the left white line is unclear.
- the white line recognition state of the left white line is not a specific unrecognized state. Therefore, the lane departure prevention support apparatus 100 displays the white line icon of the left white line in an unrecognized state.
- a lane departure prevention support apparatus 100 that displays a specific unrecognized state in a manner different from that in the first embodiment will be described.
- FIG. 15 is a diagram for explaining an example of a display mode of a white line icon corresponding to a white line recognition state.
- the left and right white lines are displayed on a black background with white white line icons.
- the white line on the side that is not recognized in the unrecognized state is displayed on the black background with a hollow.
- the white line on the side that is not recognized in the specific unrecognized state is displayed with an intermediate luminance between black and white (hereinafter simply referred to as gray display).
- the alarm operating state is the same as in the first embodiment.
- the lane departure prevention support device 100 is approaching the right or left white line. It is possible to accurately tell the driver that the white line is not recognized.
- FIG. 16 is an example of a diagram for explaining some examples of the display mode of the specific unrecognized state.
- the display mode of the white line icons in the recognized state and the unrecognized state in FIG. 16A is the same as that in FIG.
- a display mode in which white line icons are formed by mixing white pixels and black pixels A display mode in which white line icons are filled with pixels having pixel values larger than 0, for example, smaller than 255. As shown in FIG. The black and white of the background and the white line icon may be reversed.
- the display method for realizing gray display is the same as that in FIG.
- the gray density (how close to black or white) can be designed. Further, the gray density may be changed in FIGS. 16 (a) and 16 (b).
- FIG. 17 is an example of a flowchart illustrating a procedure in which the lane departure prevention support apparatus 100 displays a white line recognition state.
- the procedure of FIG. 17 is repeatedly executed when the main SW 16 is turned on, for example.
- the case where the vehicle approaches the white line on the right side (the left white line deviates from the left white line recognition area) will be described as an example, but the left and right are also reversed when the vehicle approaches the left white line. Is the same.
- the display request unit 43 sets the specific unrecognized state as the white line recognized state of the left white line to the meter ECU 13. Send to. Thereby, the display switching unit 44 displays the white line icon of the left white line in gray as shown in FIG. 16 (S25).
- the display mode of the white line icon is the same as in the first embodiment. Further, the determination in step S20 may be replaced with the determination in S22 of FIG. 12, or may be combined with the determination in S22.
- the driver can accurately confirm that the left white line being viewed is not recognized because it is out of the white line recognition area. Can be recognized.
- FIG. 18 shows another display example of the gray display in the specific unrecognized state of FIG.
- the gray display is displayed with a white line icon drawn with diagonal lines
- the gray display is displayed with a white line icon drawn with vertical stripes
- the gray display is displayed with a white line icon drawn with vertical stripes
- FIG. 18C The gray display is displayed with a white line icon in which a lattice is drawn.
- the display mode of the white line icon in the specific unrecognized state and the white line icon in the recognized state and the unrecognized state can be made different using not only the luminance but also the saturation. .
- FIG. 19 shows an example of a white line icon having a different color between the specific unrecognized state, the recognized state, and the unrecognized state.
- the white line icon in the recognition state is displayed in blue or green, for example.
- the white line icon in the specific unrecognized state is displayed in yellow, for example.
- the unrecognized white line icon is displayed in red, for example.
- the background color may be any color as long as it is not the same color as the white line icon, such as white, black, gray, or cream.
- a white line icon having a different line thickness between the specific unrecognized state, the recognized state, and the unrecognized state may be displayed.
- the white line icon in the recognition state is displayed by, for example, a thick white line.
- the white line icon in the specific unrecognized state is displayed by, for example, a white line having an intermediate thickness.
- the unrecognized white line icon is displayed by, for example, a thin white line.
- a white line icon having a different line form between the specific unrecognized state, the recognized state, and the unrecognized state may be displayed.
- the white line icon in the recognition state is displayed by, for example, a thick white line.
- the white line icon in the specific unrecognized state is displayed by, for example, a thin white line.
- the unrecognized white line icon is displayed by, for example, a white dotted line.
- the display mode of the white line icon in the specific unrecognized state and the unrecognized state can be changed depending on the number of thin white lines, for example (the white line icon in the unrecognized state has fewer lines than the specific unrecognized state).
- the white line icon in the recognition state may be displayed by a thick white line, for example.
- the white line icon in the specific unrecognized state may be displayed by a thin white line, for example.
- the unrecognized white line icon need not be displayed.
- the display mode of the specific unrecognized state and the unrecognized state is made the same, and the display mode of the specific unrecognized state and the unrecognized state is made by blinking the white line icon of either the specific unrecognized state or the unrecognized state. May be different.
- the lane departure prevention support device makes the white line icon in the specific unrecognized state the same as the recognition state different from the unrecognized state, even if one of the white lines cannot be recognized.
- the white line icon different from both the recognition state and the recognition state, it is possible to reduce the uncomfortable feeling felt by the driver.
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Abstract
Description
Keeping Assist)が知られている。
Toll Collection)アンテナの取り付け位置が好ましくないため、カメラの視界が遮られているなどにより、LDW/LKAが正しく動作できない状況であることを伝えることもできる。
12 逸脱防止支援ECU
13 メータECU
14 パワステECU
15 カメラECU
16 メインSW
19 車速センサ
20 ブレーキSW
21 情報表示部
41 未認識判定部
42 距離判定部
43 表示要求部
44 表示切替部
45 白線移動判定部
100 車線逸脱防止支援装置
・認識状態(左認識状態、右認識状態)
・特定未認識状態(左特定未認識状態、右特定未認識状態)
・未認識状態(左未認識状態、右未認識状態)
認識状態は白線が認識されている状態をいい、未認識状態は白線が認識されていない状態をいう。特定未認識状態は車両が右又は左の白線に接近したため車両から遠い側の白線が、画像データの白線認識領域から外れ、未認識状態となっている状態をいう。よって、特定未認識状態は未認識状態のうち特定の状態である。
・警報作動状態
前の3つの白線認識状態(認識状態、特定未認識状態、未認識状態)が、カメラによる白線認識状態を識別するためのものであるのに対し、警報作動状態は、車両が車線を逸脱する状態をいう。なお、「車両が車線を逸脱する」とは、逸脱が予測される場合と実際に逸脱した場合の両方を含む。
図5は、本実施形態の車線逸脱防止支援装置100の構成図の一例を示す。車線逸脱防止支援装置100は、逸脱防止支援ECU(Electronic Control Unit)12により制御される。逸脱防止支援ECU12には、レーン認識カメラ11、メータECU13、及び、パワステECU14等がCAN(Controller
Area Network)やFlexRay等の車載ネットワークを介して通信可能に(必要であればゲートウェイ装置を介して)接続されている。また、車速センサ19、ブレーキSW20、ウィンカSW17及びワイパーSW18が図示されているが、これらは不図示のECUを介して接続されていることも多い。なお、車線逸脱防止支援装置はメインSW16がオンになると作動する。
図6は、白線の認識及び白線情報について説明する図の一例である。白線の認識については種々の方法があるが、例えば、1本の白線の両端のエッジ成分を利用する方法が知られている。画像データの左右方向の輝度値を微分してエッジ強度を検出すると、白線の両端に閾値を超えるエッジが検出される。レーン認識カメラ11は検出された両端のエッジ強度、検出された両端のエッジの距離が白線と見なせるかどうか等により白線の確度を検証して、白線を認識したか否かを判定する。白線としての十分な確度が得られない場合、未認識状態であると判定される。
Assist)を行う。
・メインSWがオンであること
・車速が所定範囲(速度範囲は法令等によって異なる)にあること
・少なくとも左右いずれかの白線が認識されていること
・ワイパーがある速度以上で作動していないこと
・ターンシグナルランプが点灯していないこと
・ブレーキペダルが操作されていないこと
逸脱防止支援ECU12は、メインSW16がオンになると、ウィンカSW17からターンシグナルランプが点灯していないこと、車速センサ19から車速が所定範囲に入ること、ワイパーSW18からワイパーが高速で作動していないこと、ブレーキSW20からブレーキペダルが操作されていないこと、及び、レーン認識カメラ11から少なくとも左右いずれかの白線が認識されていることを確認すると、LDW/LKA制御を実行する。また、逸脱防止支援ECU12は、例えば、1つでも条件が満たされないと、未認識状態の表示態様の白線アイコンの表示をメータECU13に要求する。また、白線の認識以外の条件が満たされている場合は白線認識状態を通知することで、白線認識状態に応じた白線アイコンの表示をメータECU13に要求する。白線認識状態は左右の白線で異なる場合があるので、左右それぞれの白線毎の白線認識状態がほぼ同じタイミングでメータECU13に通知される。
図7(a)(b)は、車線逸脱防止支援装置100の機能ブロック部の一例を示す。図7(a)では、主に使用されるECU等を図示した。図7(b)は機能ブロック図の別の一例であり、図7(b)の逸脱防止支援ECU12は白線移動判定部45を有する。
・左の白線が認識されておらず、左の白線までの距離が閾値以上の場合(特定未認識状態の場合)、左の白線は認識状態であるとメータECU13に通知する。右の白線については認識結果に応じて白線認識状態を通知する。
・右の白線が認識されておらず、右の白線までの距離が閾値以上の場合(特定未認識状態の場合)、右の白線は認識状態であるとメータECU13に通知する。左の白線については認識結果に応じて白線認識状態を通知する。
・左の白線が認識されておらず、左の白線までの距離が閾値以上でない場合、左の白線は未認識状態であるとメータECU13に通知する。右の白線については認識結果に応じて白線認識状態を通知する。
・右の白線が認識されておらず、右の白線までの距離が閾値以上でない場合、右の白線は未認識状態であるとメータECU13に通知する。左の白線については認識結果に応じて白線認識状態を通知する。
図8は、メータパネル50の一例を示す図である。メータパネル50には、スピードメータ52、タコメータ51、燃料計54、水温計53、シフトポジション表示部55、及び、情報表示部21等を有する。本実施形態では情報表示部21に白線認識状態を示す白線アイコンで表示されるものとする。白線アイコンは、例えば、HUD(Head Up Display)に表示してもよいし、センターコンソールの液晶表示部に表示してもよい。
図9を用いて、特定未認識状態の白線アイコンの表示態様について説明する。図9は特定未認識状態の白線アイコンのいくつかの例を説明する図の一例である。
以下、二種類の特定未認識状態の判定手順について説明する。以下では、車両が右側の白線に接近した場合(左の白線が左白線認識領域から外れる)を例に説明するが、車両が左の白線に接近した場合も左右が逆になるだけで同じである。
認識状態と特定未認識状態が同じ表示態様の白線アイコンだと、特定未認識状態のまま、たまたま白線が未認識状態になった場合、運転者が、白線が認識されていると誤解するおそれがある。しかし、実際にはこのような誤解が問題になる場面は極めて少ないとしてよい。
図14(b)において車両が右側の白線に接近すると、車線逸脱防止支援装置100は左の白線の特定未認識状態を検出するが、特定未認識状態のアイコンは認識状態と同じである。そして、特定未認識状態において左の白線が不鮮明に形成されていたとしても(車両が不鮮明な領域に進入しても)、車両が右側の白線に接近しているので白線アイコンは認識状態のままである。
図14(c)において、車両が走行レーンの中央付近に戻ったとする。この場合、車線逸脱防止支援装置100は左の白線が左白線認識領域に入り次第、左の白線の認識を再開するが、左の白線は不鮮明なので未認識であると判定される。しかし、車両は走行レーンの中央付近を走行しているので、左の白線の白線認識状態は特定未認識状態とはならない。よって、車線逸脱防止支援装置100は左の白線の白線アイコンを未認識状態にて表示する。
グレー表示の実現には以下のような表示方法がある。
・白画素値(例えば255)の数:黒画素値(0)の数の比を、0%より大きく100%未満とする。つまり、白画素と黒画素を混在させて白線アイコンを形成する表示態様
・0より大きく例えば255より小さい画素値の画素で白線アイコンを塗り潰す表示態様
また、図16(b)に示すように、背景と白線アイコンの白黒を反転させてもよい。図16(b)では特定未認識状態の表示態様は、白(画素値=255)と黒(画素値=0)の間のいわゆるグレー表示になっている。グレー表示を実現するための表示方法は図16(a)と同様である。
特定未認識状態を表す白線アイコンのグレー表示は、認識状態及び未認識状態と異なればよいので、種々の表示例が存在する。
図18は、図16(b)の特定未認識状態のグレー表示の別の表示例を示す。図18(a)ではグレー表示を斜線で描画された白線アイコンで表示しており、図18(b)ではグレー表示を縦縞が描画された白線アイコンで表示しており、図18(c)ではグレー表示を格子が描画された白線アイコンで表示している。
Claims (10)
- 走行レーンを区分する車線区分線を撮影する撮影手段と、
撮影された画像データの認識領域から車線区分線を認識し、走行レーン内の幅員方向の自車位置を検出する自車位置検出手段と、
車線区分線の認識結果を用いて走行レーンからの逸脱防止を支援する支援手段と、
車線区分線の認識結果を表示する表示手段と、を有する車線逸脱防止支援装置であって、
左右の一方の白線が認識されない場合、前記自車位置に応じて、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様にて表示する認識結果表示制御手段、
を有する車線逸脱防止支援装置。 - 前記認識結果表示制御手段は、前記自車位置検出手段が特定した前記自車位置から遠い方の車線区分線が認識されていない場合、前記自車位置に応じて、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様で表示する、
ことを特徴とする請求項1記載の車線逸脱防止支援装置。 - 前記自車位置検出手段が検出した前記自車位置及び走行レーンの車線幅から、自車位置から遠い方の車線区分線から自車位置までの第1の距離を検出する距離検出手段を有し、
前記第1の距離が閾値以上の場合、前記認識結果表示制御手段は、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様で表示する、
ことを特徴とする請求項2記載の車線逸脱防止支援装置。 - 前記距離検出手段は、前記自車位置検出手段が検出した前記自車位置及び走行レーンの車線幅から、自車位置から近い方の車線区分線から自車位置までの第2の距離、又は、走行レーンの中央線からの前記自車位置のずれ量を検出し、
前記第2の距離が「車線幅-前記閾値」未満の場合、又は、前記ずれ量が「前記閾値-車線幅/2」以上の場合、
前記認識結果表示制御手段は、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様にて表示する、
ことを特徴とする請求項2又は3記載の車線逸脱防止支援装置。 - 認識されていた車線区分線が前記認識領域の外に右端又は左端から移動したことを検出する移動判定検出手段を有し、
前記認識結果表示制御手段は、前記認識領域の外に右端又は左端から車線区分線が移動したことが検出された場合、移動した車線区分線が前記自車位置から遠い方の車線区分線であると判定する、
ことを特徴とする請求項2~4いずれか1項記載の車線逸脱防止支援装置。 - 前記認識結果表示制御手段は、前記自車位置から遠い方の認識されていない車線区分線を、認識されている車線区分線と同じ表示態様で表示する、
ことを特徴とする請求項1~3いずれか1項記載の車線逸脱防止支援装置。 - 前記認識結果表示制御手段は、前記自車位置から遠い方の認識されていない車線区分線を、認識されている車線区分線、及び、前記撮影手段による車線区分線の撮影結果が不鮮明であるか又は路面標示がないために認識されていない車線区分線と異なる表示態様で表示する、
ことを特徴とする請求項1~3いずれか1項記載の車線逸脱防止支援装置。 - 前記認識結果表示制御手段は、認識されていない車線区分線を、前記撮影手段による車線区分線の撮影結果が不鮮明であるか又は路面標示がないために認識されていない車線区分線及び認識されている車線区分線と異なる色で表示する、
ことを特徴とする請求項1又は2記載の車線逸脱防止支援装置。 - 走行レーンを区分する車線区分線を撮影する撮影手段と、
撮影された画像データの認識領域から車線区分線を認識し、走行レーン内の幅員方向の自車位置を検出する自車位置検出手段と、
車線区分線の認識結果を用いて走行レーンからの逸脱防止を支援する支援手段と、
車線区分線の認識結果を表示する表示手段と、有する車線逸脱防止支援装置の区分線表示方法であって、
左右の一方の白線が認識されない場合、前記自車位置に応じて、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様にて表示する、
ことを特徴とする区分線表示方法。 - 走行レーンを区分する車線区分線を撮影する撮影手段と、
撮影された画像データの認識領域から車線区分線を認識し、走行レーン内の幅員方向の自車位置を検出する自車位置検出手段と、
車線区分線の認識結果を用いて走行レーンからの逸脱防止を支援する支援手段と、
車線区分線の認識結果を表示する表示手段と、有する車線逸脱防止支援装置のコンピュータに
左右の一方の白線が認識されない場合、前記自車位置に応じて、認識されていない車線区分線を、認識されていないことを示す表示態様でない表示態様にて表示する処理、
を実行させることを特徴とするプログラム。
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JP2018103862A (ja) * | 2016-12-27 | 2018-07-05 | トヨタ自動車株式会社 | 運転支援装置 |
US10494022B2 (en) | 2016-12-27 | 2019-12-03 | Toyota Jidosha Kabushiki Kaisha | Driving assistance device |
JP2020042612A (ja) * | 2018-09-12 | 2020-03-19 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP7086798B2 (ja) | 2018-09-12 | 2022-06-20 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
WO2020116205A1 (ja) * | 2018-12-07 | 2020-06-11 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、および情報処理方法、並びにプログラム |
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CN103052976A (zh) | 2013-04-17 |
KR20130016721A (ko) | 2013-02-18 |
JP5316713B2 (ja) | 2013-10-16 |
JPWO2012169029A1 (ja) | 2015-02-23 |
KR101328363B1 (ko) | 2013-11-11 |
US8896687B2 (en) | 2014-11-25 |
CN103052976B (zh) | 2016-05-11 |
DE112011100180B4 (de) | 2022-05-25 |
DE112011100180T5 (de) | 2013-03-28 |
US20120314055A1 (en) | 2012-12-13 |
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