JP5187171B2 - Lane departure warning system - Google Patents

Description

  The present invention performs lane maintenance support control for assisting the host vehicle to travel while maintaining the vicinity of the center of the travel lane in a vehicle such as a passenger car, a truck, a bus, and the like. It is related with the lane departure warning system which can ensure.

  Conventionally, as a lane departure warning system for encouraging the vehicle to travel safely and stably while maintaining the left and right positions of the vehicle in the vicinity of the center in the vehicle lane, the one described in Patent Document 1 is used. There is. In such a lane departure warning system, an image pickup means such as a camera whose optical axis is directed in front of the own vehicle is installed on the lower surface of the roof or the front panel of the own vehicle, for example, in the vicinity of the windshield. The following control is performed after performing processing such as binarization processing on the front image of the subject vehicle and recognizing the white lines on both sides of the subject lane where the subject vehicle is located.

In other words, if it is determined that the vehicle may deviate to some extent from the center of the recognized white line on both sides, an alarm by vibrating the speaker or vibrating the steering wheel, or steering of the vehicle A warning is generated by generating a turning force, that is, an alarm torque so that the apparatus is directed in a direction opposite to the direction in which the host vehicle deviates. Based on this warning, the driver of the host vehicle recognizes that the host vehicle has deviated from the center in the host lane, and appropriately performs a steering operation so that the host vehicle travels along the center in the host lane. be able to.
Japanese Patent Laid-Open No. 06-171392

  However, in such a lane departure warning system, the warning timing becomes a problem even when any of the voice, vibration, and warning torque warnings is given to the driver, and the direction in which the own vehicle departs from the center of the own lane. Depending on the correlation with the line-of-sight direction of the driver, it is different at what timing it is appropriate to issue an alarm.

  Specifically, when the own vehicle deviates from the center of the own lane in the direction in which the driver's line of sight is not directed, that is, the direction in which the driver is not visually recognized, the direction in which the driver's line of sight is directed, In other words, the appropriate timing is different from the case where the vehicle deviates in the direction visually recognized by the driver, and an alarm is issued when the vehicle deviates from the center of the vehicle lane in the direction where the former driver does not visually recognize. Since it is not possible to secure a sufficient time until the driver performs a steering operation that avoids deviation from the center of the host vehicle's own lane, that is, the avoidance operation, it is necessary to issue an alarm earlier. In the lane departure warning system as described in No. 1, the timing of the warning is not made variable depending on such a detailed situation, and a more appropriate warning is provided. It has been a problem that it is not always realized that performing by encouraging proper running to maintain the center of the host vehicle traveling lane to the driver.

  In view of the above problems, an object of the present invention is to provide a lane departure warning system capable of providing a more appropriate warning and prompting a driver to properly travel the vehicle in the center of the lane.

In order to solve the above problem, the lane departure warning system according to the present invention includes a front information acquisition unit that acquires front information of the host vehicle, a gaze direction determination unit that determines whether the driver's gaze direction is left or right, A departure direction for determining whether the departure direction of the own vehicle from the own lane is left or right based on the position and / or yaw angle of the own vehicle in the own lane on which the own vehicle travels detected from the front information. Compared to the case where the judgment means, the warning means for outputting a warning to the driver based on the position of the own vehicle, and the judgment result of the departure direction and the judgment result of the line-of-sight direction do not coincide with each other An alarm accelerating means for accelerating the alarm timing by the alarm means is provided. Here, the position of the host vehicle may be an offset distance of the host vehicle from the center of the host lane detected from the front information.

  According to this, in the case where the determination result of the departure direction and the determination result of the line-of-sight direction do not coincide with each other, the driver from the center of the own lane of the own vehicle after the alarm is given by the alarm means. In view of the fact that it is not possible to secure a sufficient time until the steering operation for avoiding the deviation, that is, the avoidance operation is performed, it is necessary to perform the warning by the warning means at an earlier stage. By advancing the timing of the warning according to the above, it is possible to secure a sufficient time until the driver performs the avoidance operation.

  Furthermore, the timing of the alarm is fixedly advanced in all cases so that the alarm timing is appropriate when the determination result of the departure direction and the determination result of the line-of-sight direction are inconsistent. In the case where the determination result of the departure direction and the determination result of the line-of-sight direction do not coincide with each other, it is possible to avoid advancing the timing of the alarm, so that an unnecessary early warning, that is, an unnecessary alarm is issued. Can be prevented.

  In addition, when the determination result of the departure direction and the determination result of the line-of-sight direction do not match, that is, when the determination result of the departure direction and the determination result of the line-of-sight direction match, the offset distance is The warning means outputs a warning to the driver after a predetermined time has elapsed since the predetermined distance is exceeded, but if the deviation direction and the line-of-sight direction do not match, the offset distance is the predetermined distance. An alarm is output to the driver after a shortened predetermined time shorter than the predetermined time from when the distance is exceeded.

  In addition, the determination as to whether or not the determination result of the departure direction and the determination result of the line-of-sight direction are inconsistent may be performed by the alarm accelerating unit or may be performed by a separate inconsistency determining unit. When the departure direction determination means determines that the departure direction is the left direction with respect to the center of the own lane, and the determination direction means that the departure direction is the right direction, or When the departure direction determination means determines that the departure direction is the right direction with respect to the center of the own lane, and the determination of the arrival direction is the left direction, the warning early stage The determining unit or the mismatch determination unit determines that the mismatch is affirmative and determines that the mismatch is established.

  On the other hand, the departure direction determination means determines that the departure direction is the left direction with respect to the center of the own lane, and the determination direction means determines that the departure direction is the left direction. Or when the departure direction is rightward with respect to the center of the own lane, the departure direction determination means determines that the departure direction is rightward, and the eyesight direction determination means determines that the viewing direction is rightward. In this case, the alarm accelerating unit or the mismatch determination unit determines that the mismatch is negative and determines that the mismatch is not established. If this determination is affirmative, the alarm accelerating means accelerates the timing of the alarm by the alarm means.

Here, in the lane departure warning system,
A turning determination unit for determining whether or not the host vehicle is turning,
When it is determined that the host vehicle is turning, it is preferable to include prohibiting means for prohibiting the early advancement by the early warning means.

  According to this, during the turning, the direction of the line of sight of the driver is directed to the inside of the turn rather than the direction of turning the own vehicle, that is, the direction extending forward in the center of the own lane. In many cases, it is determined in the warning accelerating means or the mismatch determination means that the determination as to whether or not the mismatch occurs is affirmative and it is determined that the mismatch is established. In consideration of the fact that it is accompanied by the turning and it is not necessary to speed up the warning by the warning means, the prohibiting means prohibits the warning from being advanced by the warning accelerating means, and The alarm means may perform the alarm at a normal timing using the predetermined time without using the shortened predetermined time. Thereby, it is possible to avoid unnecessary early warning.

In the lane departure warning system, the turning determination unit can determine whether or not the vehicle is turning based on information from various means. For example, in the lane departure warning system,
Curvature detecting means for detecting the curvature of the own lane from the front information,
The turning travel determination means may determine whether or not the host vehicle is turning based on the curvature.

  According to this, it is possible to determine whether or not the turning travel determination unit is performing the turning travel based on the curvature that can be easily detected from the front information acquired by the front information acquisition unit.

Alternatively, in the lane departure warning system,
Search means for searching a current position of the host vehicle;
Search means for searching road information including the current position from map information,
The turning travel determination means may determine whether or not the host vehicle is turning based on the current position and the road information.

  Also by this, for example, the search means and the search means are configured by a car navigation system, and the turning determination is made based on the current position searched by the search means and the road information searched by the search means. It can be determined whether the means is turning. Note that the determination of whether or not the vehicle is turning using the curvature and the determination of whether or not the vehicle is turning using the current position and the road information may be combined or performed independently. Also good.

  According to the lane departure warning system of the present invention, it is possible to prompt the driver to travel more appropriately maintaining the center of the own lane of the host vehicle by raising a more appropriate alarm, and to improve the safety of the host vehicle and other vehicles. Can do.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing an embodiment of a lane departure warning system according to the present invention.

  The lane departure warning system 1 includes a front recognition camera 2, a vehicle interior camera 3, an LDWECU 4 (Lane Departure Warning Electronic Control Unit), an EPS ECU 5 (Electronic Power Steering Electronic Control Unit), and a car navigation ECU 6. . An EPS ECU 5, a car navigation ECU 6, and a brake ECU 12 are connected to the LDWECU 4 according to a communication standard such as CAN (Controller Area Network).

  The front recognition camera 2 is, for example, a CCD camera or a CMOS camera. For example, the front recognition camera 2 is disposed at the center upper part of the windshield in the own vehicle room so that the optical axis coincides with the front. Is captured and the captured forward image data is output to the LDWECU 4.

  The vehicle interior camera 3 is, for example, a CCD camera or a CMOS camera. For example, the vehicle interior camera 3 is disposed at the center upper part of the windshield in the vehicle interior so that the optical axis coincides with the vicinity of the driver's eyeball and includes the driver's face. The captured vehicle interior image data is output to the LDWECU 4.

  The LDWECU 4 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM, and forward information for performing the processing described below. Detection means 4a, host vehicle position / direction detection means 4b, line-of-sight direction determination means 4c, departure direction determination means 4d, warning means 4e, mismatch determination means 4f, warning early acceleration means 4g, and turning travel determination means 4h, prohibiting means 4i and curvature detecting means 4j are configured.

  The EPS ECU 5 is composed of, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM, and a driver inputs to a steering wheel (not shown). The steering force generated by the EPS (Electronic Power Steering) (not shown) is controlled based on the steering force or the warning command of the warning means 4e of the LDWECU 4, and the steering angle detected by the steering angle sensor (not shown) is also used to calculate the CAN. Via the vehicle navigation ECU 6 and other ECUs.

  The EPS is of a rack and pinion type and a pinion assist type, for example, and constitutes a steering device that generates a turning force by driving an electric motor under the control of the EPS ECU 5. Here, the force input by the driver through a steering wheel (not shown) is distinguished as a steering force, and the force output from the steering device is distinguished as a turning force.

  A GPS antenna 7 (Global Positioning System), a yaw rate sensor 8, a receiver 9, a database 10, and a display 11 are connected to the car navigation ECU 6.

  Here, the GPS antenna 7 receives radio waves from three satellites among a plurality of satellites launched above the earth, and the yaw rate sensor 8 detects the yaw rate of the vehicle. The receiver 9 is compliant with light or radio beacon, and receives road travel information including traffic jam information and various information such as traffic flow representative vehicle speed from VICS (Vehicle Information & Communication System). The traffic flow representative vehicle speed is a vehicle speed obtained by averaging vehicle speeds of a plurality of vehicles located within a predetermined section.

  In addition, the database 10 is constituted by a storage medium such as a CD-ROM or DVD-ROM, and stores and stores display map information and search map information. Map information for search includes each road, that is, the link and the position including the longitude and latitude of the node indicating the start and end of the link, the length, curvature, width, number of lanes of each link, and the right turn when the node is an intersection. Includes road information such as lanes, left turn lanes, right turn bans.

  The display 11 functions as a touch panel, that is, an input device for the driver to input search conditions such as the destination, and the search means 6a of the car navigation ECU 6 based on the search conditions such as the destination input by the driver. The planned route searched based on the map information for search is displayed together with the map information for display based on the command of the display means 6c of the car navigation ECU 6.

  The brake ECU 12 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM. Based on the braking command accompanying the stepping operation, the brake device provided on each wheel of the vehicle is controlled to brake the vehicle, and the vehicle speed is detected from a wheel speed sensor (not shown) and the detection result is output on the CAN. Is.

  The car navigation ECU 6 includes, for example, a CPU, a ROM, a RAM, a data bus that connects them to each other, and an input / output interface. A search unit 6a and a search unit that perform each control described below in accordance with a program stored in the ROM. 6b, display means 6c, and transmission means 6d.

  The search means 6a of the car navigation ECU 6 searches based on the radio wave received by the GPS antenna 7 by measuring the current position where the vehicle is located, that is, the longitude and latitude based on the principle of triangulation, for example. In addition, the search means 6a of the car navigation ECU 6 acquires the vehicle speed of the host vehicle transmitted from the brake ECU 12 onto the CAN via the CAN.

  In addition, when the GPS antenna 7 cannot receive radio waves from the satellite, the search means 6a of the car navigation ECU 6 determines the vehicle speed acquired from the CAN, the yaw rate detected by the yaw rate sensor 8, and the steering angle acquired from the EPS ECU 5. Based on the above, the travel distance and direction of the host vehicle are calculated, and the current position of the host vehicle is measured by autonomous navigation. Thereby, in addition to the measurement of the current position of the host vehicle using the GPS antenna 7, the accuracy of the measurement of the current position where the total host vehicle is located is increased.

  That is, the measurement of the current position of the host vehicle by the search means 6a of the car navigation ECU 6 using the GPS antenna 7 described above is based on the characteristics of using radio waves from the satellite when the host vehicle is located in a valley of a high-rise building. When the vehicle is traveling in a tunnel or when the vehicle is traveling under a viaduct, it is difficult to receive radio waves from the satellite by the GPS antenna 7, and the current position of the vehicle is Although a period that cannot be measured occurs, the measurement of the current position of the vehicle during this period is supplemented by the latter measurement by autonomous navigation.

  The search means 6a of the car navigation ECU 6 uses the map information for searching in the database 10 for the planned route connecting the current position measured in this way and the destination input by the driver through the touch panel, that is, the display 11. Search by a method such as Dijkstra method.

  Further, the search means 6 b of the car navigation ECU 6 searches for road information of a route including the current position of the host vehicle from search map information stored in the database 10. The transmission means 6d of the car navigation ECU 6 transmits the map information searched by the search means 6b and the data frame including the current position of the host vehicle searched by the search means 6a to the LDWECU 4 via the CAN.

  Then, the display means 6c of the car navigation ECU 6 displays the map information for display in the database 10, the current position of the host vehicle measured by the above-described method, the destination input by the touch panel, that is, the display 11, and the search. The planned route from the current position searched for by the means 6a to the destination is also displayed on the display 11.

  The forward information detection means 4a of the LDWECU 4 acquires the forward image data as forward information from the forward recognition camera 2, and the own vehicle position / direction detection means 4b of the LDWECU 4 is located in the forward image data imaged by the forward recognition camera 2. The white line located on both sides of the lane of the road surface to be detected is detected by binarization processing, etc., the center of the own lane is detected from the white line on both sides, the curvature R of the road surface in front, the center of the own lane where the own vehicle is located And the yaw angle θ of the host vehicle with respect to the center of the host lane as a reference. The yaw angle θ has a positive value in the left direction with respect to the center of the own lane.

  The line-of-sight direction determination unit 4c of the LDWECU 4 acquires vehicle interior image data captured by the vehicle interior camera 3 from the vehicle interior camera 3, and based on the vehicle interior image data, for example, predetermined detection such as edge detection and pattern matching is performed. Image processing is executed to detect the driver's line-of-sight direction φ, and when the line-of-sight direction φ is larger than the threshold value Dth and has a positive value, it is determined that the line-of-sight direction φ is the left direction. When the negative value is smaller than Dth, it is determined that the line-of-sight direction φ is the right direction. The line-of-sight direction φ is represented by an angle with respect to the center of the own lane, and the left direction is a positive value.

  Further, the departure direction determination means 4d of the LDWECU 4 determines that the departure direction ψ of the host vehicle with respect to the own lane is the left direction based on the yaw angle θ, and the yaw angle θ is negative. If it is a value, it determines with the departure direction psi with respect to the own lane of the own vehicle being a right direction. Further, the alarm means 4e of the LDWECU 4 outputs an alarm to the EPS ECU 5 so that when the offset distance W is equal to or greater than the predetermined distance Wth, the alarm is output to the driver when the offset distance W ≧ the predetermined distance Wth and the alarm condition is satisfied. On the other hand, a warning command is output so as to generate a turning force that directs the host vehicle in a direction opposite to the departure direction ψ, that is, a warning torque.

  Further, the mismatch determination means 4f of the LDWECU 4 determines that there is a mismatch when the determination result of the driver's line-of-sight direction φ and the determination result of the departure direction ψ do not match, and determines that there is no mismatch when they match. The warning advancement means 4g of the LDWECU 4 determines whether the warning means 4e gives a warning when the mismatch determination means 4f determines that the determination result of the departure direction ψ with respect to the own lane of the host vehicle and the determination result of the line-of-sight direction φ are inconsistent. The predetermined time T, which is a control constant used by the alarm unit 4e, is changed to a shortened predetermined time TS shorter than the predetermined time T so as to advance the timing. Here, the control constant represents the time from when the alarm condition is satisfied until the alarm command is actually output to the EPS ECU 5, and when the control constant is changed to the shortened predetermined time TS, the predetermined time T is The alarm is executed earlier than when the alarm means 4e uses the alarm.

  Further, the turning determination unit 4h of the LDWECU 4 determines whether or not the host vehicle is turning, and if it is determined that the host vehicle is turning, the prohibiting unit 4i of the LDWECU 4 Early warning by means 4g is prohibited. Whether the host vehicle is turning or not is determined by the turning determination unit 4h based on the following two determination factors: a comparison between the curvature R and the curvature threshold Rth, and a match between the current position and the road information. And execute.

  That is, in the LDWECU 4, from the front image data that is the front information acquired by the front information acquisition means 4a, the white line on both sides of the own lane is detected by the above-described binarization processing, the center of the white line on both sides is detected, Curvature detecting means 4j for detecting the curvature R of the central lane of the own lane from the central locus is further provided. The turning determination unit 4h of the LDWECU 4 acquires the curvature R, and on the CAN, the current position of the host vehicle searched by the search unit 6a of the car navigation ECU 6 and the road information searched by the search unit 6b of the car navigation ECU 6 To get.

  The turning determination unit 4h of the LDWECU 4 is a case where the curvature R is larger than the curvature threshold value Rth, and the current position of the host vehicle searched by the search unit 6a of the car navigation ECU 6 described above is information included in the road information. When the vehicle is in front of the curve or in the curve, it is determined that the host vehicle is turning.

  Hereinafter, the control contents of the lane departure warning system 1 according to the first embodiment will be described with reference to flowcharts. FIG. 2 is a flowchart showing the control contents of the lane departure warning system 1 according to the present invention. FIG. 3 is a subroutine showing details of the processing content of step S2 of the flowchart in FIG. FIG. 4 is a subroutine showing in detail the processing contents of step 3 of the flowchart in FIG. FIG. 5 is a subroutine showing in detail the processing content of step S4 in FIG. FIG. 6 is a subroutine showing in detail the processing content of step S5 in FIG.

  In step S1, the forward information detecting means 4a of the LDWECU 4 acquires the forward image data based on the detection result of the forward recognition camera 2, and the own vehicle position / direction detecting means 4b of the LDWECU 4 is offset based on the forward image data. The distance W and the yaw angle θ are detected, and the curvature detection means 4j of the LDWECU 4 detects the curvature R based on the front image data.

  In step S2, the departure direction determination means 4d of the LDWECU 4 determines whether or not the yaw angle θ is a positive value as shown in step S21 of FIG. 3. If the determination is affirmative, the departure direction determination means 4d. If the direction ψ is determined to be the left direction and the result is negative, it is determined in step S23 that the departure direction ψ is the right direction.

  In step S3, the line-of-sight direction determination means 4c of the LDWECU 4 determines whether or not the detection result of the line-of-sight direction φ is larger than the threshold value Dth, as shown in step S31 of FIG. In step S33, it is determined whether the look direction φ is smaller than the threshold value −Dth. In step S34, it is determined that a look-ahead with the line-of-sight direction φ being the right direction has occurred, and if negative, in step S35, the line-of-sight direction φ is neither the left direction nor the right direction and the person is not looking aside. Is determined.

  In step S4, as shown in step S41 of FIG. 5, the turning determination unit 4h of the LDWECU 4 has the absolute value of the curvature R larger than the curvature threshold value Rth, and the current position of the vehicle by GPS is included in the road information. It is determined whether the vehicle is in front of or on the curve. If the result is affirmative, the process proceeds to step S42. If the result is negative, the process proceeds to step S43. Judge that it is not in.

  In step S5, the mismatch determination means 4f of the LDWECU 4 determines that the departure direction ψ is left and the line-of-sight direction φ is right as shown in step S51 of FIG. If it is affirmative, the process proceeds to step S52. If the determination is negative, the process proceeds to step S54, where the departure direction ψ is determined as the right direction and the line-of-sight direction φ is left. The direction is determined, and it is determined whether or not the determination results of both are inconsistent. If the result is affirmative, the process proceeds to step S52. If the result is negative, the process proceeds to step S55.

  In step S52, the turning determination unit 4h of the LDWECU 4 does not determine that the vehicle is turning in step S4 described above, and determines whether or not the vehicle is determined not to be traveling on the curve. In such a case, the process proceeds to step S53, and in step S53, the warning earlyening means 4g of the LDWECU 4 changes the predetermined time T used by the warning means 4e described above to the shortened predetermined time TS, and executes a process for speeding up the warning timing.

  Further, in step S54, the prohibiting means 4i of the LDWECU 4 prohibits the warning by the warning accelerating means 4g, that is, the control constant is changed from the predetermined time T to the shortened predetermined time TS, and the warning means 4e. The control constant used by is changed so as to return from the shortened predetermined time TS to the predetermined time T, or is kept as the predetermined time T, and the processing for accelerating the alarm timing is not performed.

  Thus, after the control constant used by the alarm means 4e is set to the shortened predetermined time TS or the predetermined time T, the alarm means 4e of the LDWECU 4 sends the EPS ECU 5 after the shortened predetermined time TS or the predetermined time T from the time when the alarm condition is satisfied. The EPS ECU 5 outputs a control command to output an alarm torque to the EPS, and an alarm is issued to the driver.

  According to the lane departure warning system 1 of the present embodiment realized by the control contents described above, the following operational effects can be obtained. That is, based on the determination of whether or not there is a mismatch by the mismatch determination unit 4f and the process of changing the control constant by the alarm accelerating unit 4g from the predetermined time T to a shorter predetermined time TS, the alarm by the alarm unit 4e In the case where the determination result of the line-of-sight direction φ and the determination result of the departure direction ψ are inconsistent, the driver can deviate from the center of the own lane of the own vehicle after the warning is issued by accelerating the warning. It is possible to secure a sufficient time until the steering operation to be avoided, that is, the avoidance operation, to further improve the safety of the driver.

  Also, whether or not the determination result of the departure direction ψ and the determination result of the line-of-sight direction φ are inconsistent as compared with fixing the control constant to the predetermined time TS to shorten the alarm timing in all cases. The control constant can be changed to the shortened predetermined time TS only when there is a mismatch and the alarm can be advanced early. Therefore, if it does not match, the control constant is held at the predetermined time T. Alternatively, it is possible to return from the shortened predetermined time TS to the predetermined time T and issue an alarm at a normal timing, thereby preventing an unnecessarily early alarm, that is, an unnecessary alarm from being issued.

  Further, even if the determination result of the line-of-sight direction φ and the determination result of the departure direction ψ are determined to be inconsistent, if the disagreement is associated with turning, the prohibiting means 4i causes the alarm early warning means 4g to issue an alarm. In order to prohibit the advancement, the alarm means 4e outputs an alarm command to the EPS ECU 5 at a normal timing using the predetermined time T without using the shortened predetermined time TS, and generates an alarm torque by the EPS. The driver can be alerted to prevent unnecessary early warning.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, in the embodiment described above, the departure direction determination means 4d of the LDWECU 4 uses the yaw angle θ in determining whether the departure direction ψ is left or right, but the offset distance W is shifted from the center of the own lane to the left. If the offset is positive, the right is negative, and if it is positive, the departure direction ψ is left, and if it is negative, the departure direction ψ is determined to be right. You can also Of course, the departure direction determination means 4d may determine whether it is left or right by using both the yaw angle θ and the offset distance W.

  In the above-described embodiment, the host vehicle is traveling along a curve based on the current position of the host vehicle searched by the search unit 6a of the car navigation ECU 6 and the road information searched by the search unit 6b. The turning determination unit 4h determines whether or not the vehicle is turning based on the fact that it is located in front of the curve and whether or not the curvature R detected by the curvature detection unit 4j is larger than the curvature threshold value Rth. It can also be determined whether the vehicle is turning based on the curvature R alone. According to this, the lane departure warning system 1 in a simpler form can be provided without using the car navigation ECU 6.

  Further, in the above-described embodiment, the forward information detection means 4a, the own vehicle position / direction detection means 4b, the line-of-sight direction determination means 4c, the departure direction determination means 4d, the warning means 4e, and the mismatch determination means 4f, Although the LDWECU 4 is used to construct the alarm accelerating means 4g, the turning travel determining means 4h, the prohibiting means 4i, and the curvature detecting means 4j, it can be replaced with a LKA ECU (Lane Keep Assist Electronic Control Unit). It is.

  Furthermore, the lane departure warning system 1 of the present embodiment is applied to a vehicle equipped with ACC (Adaptive Cruise Control), together with constant inter-vehicle time control and constant speed traveling control between the preceding vehicle and the host vehicle executed by ACC, It is of course possible to execute a lane departure warning. In this case, the brake ECU 12 performs braking based on the ACC braking command, and the engine ECU and the transmission ECU (not shown) perform drive control based on the ACC driving command.

  Further, when ACC is applied to the vehicle, when the driver desires constant inter-vehicle time control, a plurality of stages of inter-vehicle time are selected by the driver based on the operation of the selection switch. When the constant speed traveling control is desired, the set vehicle speed is also selected by the driver based on the operation of the selection switch. The threshold used by the line-of-sight direction determination unit 4c according to the set inter-vehicle time or the set vehicle speed. Dth may be changed. For example, the threshold Dth is decreased as the set inter-vehicle time is shortened, and the threshold Dth is decreased as the set vehicle speed is increased. be able to.

  Further, the predetermined time T and the shortened predetermined time TS, which are control constants used by the warning means 4e of the LDWECU 4, can be appropriately changed according to the set inter-vehicle time or the set vehicle speed set by the driver. In this case, both the predetermined time T and the shortened predetermined time TS are shortened as the set inter-vehicle time is short, and the predetermined time T and the shortened predetermined time TS are both shortened as the set vehicle speed is high. This also increases the safety of the host vehicle and other vehicles.

  The present invention relates to a lane departure warning system, which can prompt the driver to drive the vehicle to maintain the center of the lane in accordance with a more appropriate warning. This is useful when applied to various vehicles.

1 is a block diagram showing an embodiment of a lane departure warning system according to the present invention. It is a flowchart which shows the control content of one Embodiment of the lane departure warning system which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the lane departure warning system which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the lane departure warning system which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the lane departure warning system which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the lane departure warning system which concerns on this invention.

Explanation of symbols

1 Lane departure warning system 2 Front recognition camera 3 Car interior camera 4 LDWECU
4a Forward information detection means 4b Own vehicle position / direction detection means 4c Gaze direction determination means 4d Departure direction determination means 4e Alarm means 4f Disagreement determination means 4g Alarm advancement means 4h Turning travel determination means 4i Inhibition means 4j Curvature detection means 5 EPSECU
6 Car navigation ECU
6a search means 6b search means 6c display means 6d transmission means 7 GPS antenna 8 yaw rate sensor 9 receiver 10 database 11 display 12 brake ECU
W Offset distance θ Yaw angle φ Gaze direction ψ Deviation direction T Predetermined time TS Shortened predetermined time

Claims (5)

Forward information acquisition means for acquiring forward information of the host vehicle, line-of-sight direction determination means for determining whether the driver's line-of-sight direction is left or right, and the host vehicle in which the host vehicle travels detected from the front information. Deviation direction determination means for determining whether the departure direction of the own vehicle with respect to the own lane is right or left based on the position and / or yaw angle of the own vehicle, and an alarm to the driver based on the position of the own vehicle Alarm means for outputting the warning means, and when the deviation direction determination result and the line-of-sight direction determination result are inconsistent, the alarm accelerating means for accelerating the timing of the alarm by the alarm means as compared to the case of no mismatch A lane departure warning system characterized by that . The lane departure warning system according to claim 1, wherein the position of the host vehicle is an offset distance of the host vehicle from the center of the host lane detected from the front information . The vehicle includes a turning determination unit that determines whether or not the host vehicle is turning, and prohibits the advancement by the warning advancement unit when it is determined that the host vehicle is turning. The lane departure warning system according to claim 1 or 2 , further comprising prohibition means. Claims wherein the forward information comprising a curvature detection means for detecting a curvature of the traveling lane, the turning determination means, wherein the vehicle is determined whether the turning travel on the basis of the curvature Item 4. A lane departure warning system according to item 3 . Search means for searching for the current position of the host vehicle and search means for searching for road information including the current position from map information, wherein the turning determination unit is configured to detect the vehicle based on the current position and the road information. The lane departure warning system according to claim 3 or 4 , wherein it is determined whether or not the vehicle is turning.

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