JP3436083B2 - Travel lane departure warning device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling lane departure warning device, and more particularly to a device for issuing an alarm when a vehicle is about to depart from a traveling lane.

[0002]

2. Description of the Related Art Conventionally, for the purpose of stably driving a vehicle, a guideline such as a white line on a road is recognized to recognize a road on which the vehicle is traveling, and an alarm is issued when the vehicle is likely to deviate from the road. A device has been proposed. For example, in Japanese Unexamined Patent Publication No. 4-293109, a video camera mounted on a vehicle for capturing an image of a road ahead of the vehicle, an image processing unit for performing image processing on a road image captured from the video camera, and the image Output from a traveling lane tracking device including processing area setting means for setting an area in an image to be processed by the processing means, and traveling lane recognition means for recognizing a traveling lane using the processing result of the image processing means. Vehicle position recognition means for recognizing the position of the vehicle in the traveling lane using the recognition result of the traveling lane, and the possibility of the vehicle deviating from the position of the vehicle in the lane recognized by the vehicle position recognition means. Lane departure determination means for determining
There is disclosed a traveling lane departure warning device including warning means for giving a warning to a driver when the lane departure determination means determines that the vehicle may depart from the traveling lane.

[0003]

In the conventional device, when the vehicle exceeds the preset threshold value and approaches the guideline and is about to deviate from the driving lane, an alarm is always issued. There was a problem that unnecessary warnings were issued even when changing lanes.

The present invention has been made in view of the above points,
It is an object of the present invention to provide a traveling lane departure warning device that prevents unnecessary warnings when a driving lane is changed by the driver's intention by prohibiting the warning according to a relative speed with an object approaching a vehicle.

[0005]

According to a first aspect of the present invention, there is provided a traveling lane recognition means M1 for recognizing a traveling lane on a road and a position of a vehicle on the traveling lane, and a traveling lane based on the recognition result. A traveling lane departure warning device having warning means M2 for giving an alarm when a departure is likely to occur,
The first to detect the relative speed of the preceding object in the vehicle traveling lane
Relative speed detecting means M3 and first prohibiting means M for prohibiting an alarm when the preceding object approaches the vehicle at a predetermined speed or more.
4 and.

For this reason, when a preceding object such as a preceding vehicle or an obstacle approaches the own vehicle at a predetermined speed or more, the warning is prohibited when the traveling lane is changed in order to avoid this, which is unnecessary. The alarm can be prevented. The invention according to claim 2 is a traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and an alarm means for issuing an alarm when the vehicle is likely to depart from the traveling lane based on the recognition result. In the traveling lane departure warning device having: a distance detecting means for detecting a distance to a preceding object in the vehicle traveling lane, and a second prohibiting means for prohibiting an alarm when the preceding object is within a predetermined distance.

For this reason, when a preceding object such as a preceding vehicle or an obstacle is present within a predetermined distance, the warning is prohibited when the traveling lane is changed in order to avoid this, so that an unnecessary warning can be prevented. . According to a third aspect of the present invention, a traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and an alarm means for issuing an alarm when the vehicle is likely to depart from the traveling lane based on the recognition result. In a traveling lane departure warning device having: a second relative speed detecting means for detecting a relative speed with respect to a rear object in the vehicle traveling lane; and a second for prohibiting an alarm when the rear object approaches the vehicle at a predetermined speed or more. 3 prohibition means.

[0008] For this reason, when the rear of the vehicle is approaching to the vehicle greater than or equal to the predetermined speed, kills in a prevent an unnecessary alarm since the alarm is prohibited when an attempt is made to change the travel lane in order to avoid this .

The invention according to a fourth aspect is the first to the third aspects.
In the traveling lane departure warning device according to any one of
It has a first stop means for stopping the operation of the prohibition means when the vehicle deviates from the traveling lane and enters the road shoulder.

Therefore, when the own vehicle deviates from the traveling lane and enters the shoulder of the road, the alarm can be continued, and the deviation of the own road can be prevented. The invention according to claim 5 is
The traveling lane departure warning device according to any one of claims 1 to 3 , further comprising: an adjacent lane vehicle detection means for detecting a vehicle within a predetermined distance or time of a traveling lane adjacent to the lane in which the vehicle is traveling; Variable means for varying the distance or the time depending on whether the direction in which the vehicle departs from the traveling lane is the opposite lane direction or the roadside direction, and the operation of the prohibiting means is stopped when the adjacent lane vehicle detection means detects it. Second stop means.

Therefore, the distance or time to the vehicle in the adjacent lane for which the alarm is prohibited can be varied according to the departure direction of the traveling lane, and the alarm prohibiting operation can be optimally performed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 2 shows a system schematic diagram of the device of the present invention. In the figure, an image sensor 10 captures an image of a road in the traveling direction of a vehicle, and an image processing recognition device 1
Supply to 4. Further, the image sensors 11 and 12 as the adjacent lane vehicle detection means images the roads on the left and right sides of the vehicle, and supplies the road images to the image processing recognition device 14.

The traveling lane recognizing means M1 and the image processing recognizing device 14 as the first and second relative speed detecting means and the distance detecting means perform image processing of the road image in front and perform a white line on the center of the road or on the road side. Recognize the guidelines such as the yellow overtaking prohibited line along with the line type, and recognize the driving route (driving lane) based on this guideline, based on the vehicle offset amount from the center line of the own driving route and the distance from the left and right guidelines. It recognizes a position in a lane, a yaw angle with respect to a lane that is an inclination angle with respect to a guideline, a road shape such as a curvature radius R of a curve of a traveling road, the presence / absence distance of a traveling vehicle, a relative speed, and the like.

Further, the image processing recognition device 14 performs image processing on the road images on the left and right rear sides to recognize the following vehicles in the own lane and the adjacent lane. The above recognition result is supplied to the alarm system ECU (electronic control unit) 16. GP
S (Global Positioning System) device 18
Receives navigation information transmitted from a plurality of GPS satellites, recognizes the traveling position of the vehicle, and supplies the traveling position to the navigation device 20 and the alarm system ECU 16.
The navigation device 20 superimposes the traveling position from the GPS device 18 on the map information, corrects the traveling position, and supplies the traveling position information to the alarm system ECU 16. The above map information is also used as road shape information.

The road infrastructure system communication device 22 is, for example, VICS (Vehicle Information and
Communication system), etc., time required
Information such as regulations, accident / construction and obstacle information, and road infrastructure information such as meteorological information is FM multiplexed broadcast, radio beacon,
The information is received from the optical beacon and supplied to the navigation device 20 and the alarm system ECU 16.

Further, a sensor group 2 corresponding to the steering detecting means
Reference numeral 4 denotes a steering angle sensor that detects a steering angle of a steering wheel of a vehicle, a steering torque sensor that detects a steering torque, a turn signal switch sensor that detects an operation of a turn signal indicator, and the like. There are a vehicle speed sensor that detects a vehicle speed, a yaw rate sensor that detects a yaw rate of the vehicle, and an acceleration sensor that detects a longitudinal acceleration, a lateral acceleration, and a vertical acceleration of the vehicle. The detection signal of each of these sensors is the alarm system E.
It is supplied to the CU 16. In addition, the alarm system ECU16
An alarm device 26 as an alarm means M2 is connected to the.

The alarm system ECU 16 is composed of a microcomputer as shown in FIG. 3, and has a central processing unit (CPU) 30 and a read only memory (ROM) 3.
2, a random access memory (RAM) 34, an input port circuit 36, an output port circuit 38, and a communication circuit 4
0, which are connected to each other by a bidirectional common bus 42.

The input port circuit 36 is supplied with detection signals from the sensors of the sensor group 24. Further, the communication circuit 40 is supplied with output information from the image processing recognition device 14, the GPS device 18, the navigation device 20, and the road infrastructure system communication device 22, respectively. A control program is stored in the ROM 32. The CPU 30 performs various calculations to be described later based on the control program, and the RAM 34 at that time.
Is used as a work area. The control signal generated by the CPU 30 executing the control program is supplied from the output port circuit 38 to the alarm device 26, and the alarm device 26 issues an alarm to the driver by sounding an alarm sound, vibration of the steering wheel, or the like.

FIG. 4 shows a flowchart of the main processing executed by the alarm system ECU 16. This process is repeated at predetermined time intervals. In the figure, in step S2, the image processing recognition device 14 and the GPS device 1 are transmitted via the communication circuit 40.
8. Read information supplied from each of the navigation device 20, the road infrastructure system communication device 22, and
The detection signal supplied from the sensor group 24 via the input port circuit 36 is read.

Next, in step S4, alarm on or alarm off is set based on the read various information and detection signals. In step S6, the position of the vehicle in the traveling lane obtained from the image processing recognition device 14 is compared with the threshold value L1 shown in FIG. If there is, the process proceeds to step S8 to output an alarm. If the alarm is off or outside the alarm area, the process is terminated. In FIG. 5, the distance L1 from each of the guidelines I and II is set as a threshold value.

FIG. 6 shows a flow chart of the first embodiment of the alarm ON / OFF setting process in step S6. In the figure, in step S10, the relative speed MV with respect to the preceding vehicle or the obstacle in the traveling lane of the own vehicle (own vehicle lane) obtained as the information from the image processing recognition device 14 (however, MV is set in the approaching direction to be positive). Is determined to exceed a predetermined value MVk,
If MV> MVk, the alarm OFF is set in step S12 corresponding to the first prohibiting means M4, and if MV ≦ MVk, the alarm ON is set in step S14.

As described above, when MV> MVk, it is highly necessary to change the traveling lane of the own vehicle when the preceding vehicle or obstacle in the own vehicle lane rapidly approaches the predetermined value MVk, and therefore the alarm off is set. The warning when changing lanes is prohibited. By the way, even when the alarm is set to OFF, when a parallel running vehicle exists within a predetermined distance of an adjacent lane adjacent to the guideline direction in which the vehicle is deviating in step S16, or within a predetermined distance of the adjacent lane. If there is an oncoming vehicle or an obstacle, or if the guideline from which the vehicle is deviating is a protruding prohibition line such as a yellow overpass prohibition line, the alarm on is reset in step S18.

FIG. 7 shows a flow chart of the second embodiment of the alarm on / off setting process in step S6. In the figure, in step S20, as information from the image processing recognition device 14, it is determined whether or not there is a preceding vehicle, an interrupting vehicle, or an obstacle within a predetermined distance from the own vehicle in the own vehicle lane. The alarm OFF is set in step S22 corresponding to the prohibiting means of No. 2, and the alarm ON is set in step S24 if it does not exist.

As described above, since it is highly necessary to change the traveling lane of the vehicle or the vehicle in which the obstacle exists within the predetermined distance in front of the own vehicle, the alarm is set to OFF to prohibit the alarm when the traveling lane is changed. ing. By the way, even when the alarm is set to OFF, when a parallel running vehicle exists within a predetermined distance of an adjacent lane adjacent to the guideline direction in which the vehicle is deviating in step S26, or within a predetermined distance of the adjacent lane. If there is an oncoming vehicle or an obstacle, or if the guideline from which the own vehicle is deviating is a protruding prohibition line such as a yellow prohibition prohibition line, the alarm ON is reset in step S28.

The predetermined distance may be a fixed value such as several tens of meters, or may be a value proportional to the vehicle speed which increases as the vehicle speed increases. FIG. 8 shows a flowchart of the third embodiment of the alarm on / off setting processing in step S6. In the figure, in step S30, it is determined whether or not the turn signal switch for instructing the course change from the detection signal of the sensor group 24 is operated to instruct the deviating guideline direction, and this condition is satisfied. In this case, since the lane is changed by the driver's intention, the alarm off is set and the alarm is prohibited in step S32. On the other hand, if the above conditions are not satisfied, the alarm ON is set in step S34.

By the way, even when the alarm is set to OFF, when a parallel running vehicle exists within a predetermined distance of an adjacent lane adjacent to the adjacent lane in the guideline direction in which the vehicle is deviating in step S36, or in the above adjacent lane. If there is an oncoming vehicle or an obstacle within a predetermined distance, or if the guideline from which the own vehicle is deviating is a protruding prohibition line such as a yellow overpass prohibition line, the alarm ON is reset in step S38.

FIG. 9 shows a flow chart of the fourth embodiment of the alarm on / off setting processing in step S6. In the figure, in step S40, it is determined whether the steering angle θ in the guideline direction deviating from the detection signals of the sensor group 24 is a predetermined value θk or more, or the steering angular velocity Δθ in the direction is a predetermined value Δθk or more. To do. The predetermined values θk and Δθk are constant values or values that decrease in proportion to the vehicle speed.

If this condition is satisfied, it means that the lane has been changed by the driver's will, and the alarm OFF is set in step S42 corresponding to the fourth prohibition means to prohibit the alarm.
On the other hand, if the above conditions are not satisfied, the alarm ON is set in step S44. By the way, even when the alarm is set to OFF, when the parallel running vehicle exists within the predetermined distance of the adjacent lane adjacent to the guideline direction in which the vehicle is deviating in step S46, or within the predetermined distance of the adjacent lane. If there is an oncoming vehicle or an obstacle, or if the guideline from which the vehicle is deviating is a protruding prohibition line such as a yellow overpass prohibition line, the alarm ON is reset in step S48.

FIG. 10 shows a flowchart of the fifth embodiment of the alarm on / off setting processing in step S6. In the figure,
In step S50, it is determined whether or not there is a vehicle approaching at a relative speed MV of a predetermined value MVk or more within a predetermined rear distance on the traveling lane of the own vehicle based on the information from the image processing recognition device 14. If this condition is satisfied, the alarm OFF is set in step S52 corresponding to the third prohibiting means so as to prohibit the alarm when changing the traveling lane in order to avoid a vehicle approaching from the rear. On the other hand, if the above conditions are not satisfied, the alarm ON is set in step S54.

By the way, even when the alarm is set to OFF, when a parallel running vehicle exists within a predetermined distance of the adjacent lane adjacent to the adjacent lane in the guideline direction in which the vehicle is deviating in step S56, or in the above adjacent lane. If there is an oncoming vehicle or an obstacle within a predetermined distance, or if the guideline from which the own vehicle is deviating is a protrusion-prohibited line such as a yellow overpass-prohibited line, the alarm on is reset in step S58.

FIG. 11 shows a flowchart of the sixth embodiment of the alarm on / off setting processing in step S6. Here, step S60 is added immediately before step S16 in FIG. 6, and the same steps as those in FIG. 6 are designated by the same step numbers. In FIG. 11, in step S10, the relative speed MV with respect to the preceding vehicle or the obstacle in the traveling lane of the own vehicle (own vehicle lane) obtained as the information from the image processing recognition device 14 (however, MV is a positive direction in the approaching direction). Is above the predetermined value MVk, and if MV> MVk, the alarm off is set in step S12, and if MV ≦ MVk, the alarm on is set in step S14.

As described above, when MV> MVk, it is highly necessary to change the traveling lane of the own vehicle when a preceding vehicle or an obstacle in the own vehicle lane rapidly approaches the predetermined value MVk, and the alarm is set to off. The warning when changing lanes is prohibited. When the alarm is set to OFF, the process proceeds to step S60 corresponding to the first stopping means, and whether the guideline the vehicle is about to deviate from is the boundary with the road shoulder, that is, when the vehicle deviates from the driving lane, the road is shouldered. Determine whether to enter. As a result, if the host vehicle deviates from the traveling lane and enters the shoulder of the road, the process proceeds to step S18 to reset the alarm ON. On the other hand, if the host vehicle deviates from the traveling lane and it enters the adjacent lane instead of the shoulder, the process proceeds to step S16.

In step S16, when a parallel running vehicle exists within a predetermined distance of the adjacent lane adjacent to the guideline direction in which the vehicle is deviating, or an oncoming vehicle or an obstacle exists within the predetermined distance of the adjacent lane. In this case, or if the guideline for the vehicle to deviate is a line forbidden to protrude such as a yellow overpass prohibited line, the alarm on is reset in step S18.

In this way, when the vehicle deviates from the traveling lane and enters the shoulder of the road, the alarm can be continued and the departure of the road can be prevented. It should be noted that steps S26, S36, S46, and S5 are also applied to the second to fifth embodiments.
The above step S60 may be similarly added immediately before each of the six. FIG. 12 shows a flowchart of the seventh embodiment of the alarm on / off setting processing in step S6. Here, steps S70 to S are performed immediately before step S16 in FIG.
74 has been added, and the same steps as those in FIG. 6 are denoted by the same step numbers.

In FIG. 12, in step S10, the relative speed MV (however, MV approaches to the preceding vehicle or the obstacle in the traveling lane (own vehicle lane) of the own vehicle obtained as information from the image processing recognition device 14 Whether the direction is positive) exceeds a predetermined value MVk is determined. If MV> MVk, an alarm off is set in step S12, and if MV ≦ MVk, an alarm on is set in step S14.

As described above, when MV> MVk, it is highly necessary to change the traveling lane of the own vehicle when the preceding vehicle or the obstacle in the own vehicle lane approaches the predetermined value MVk rapidly, and the alarm off is set. The warning when changing lanes is prohibited. When the alarm off is set, the process proceeds to step S70, and it is determined whether or not the direction in which the vehicle is about to depart from the traveling lane is the traveling lane of the oncoming vehicle, that is, the opposite lane direction. As a result, when the host vehicle deviates in the opposite lane direction, the process proceeds to step S72, and the value LA1 is set to the predetermined distance when the parallel running vehicle is detected. If the host vehicle deviates in the roadside direction, the process proceeds to step S74 and the value LA2 is set to the predetermined distance when the parallel running vehicle is detected. Value LA above
As shown in FIG. 13, 1 and LA2 have a relationship of LA1> LA2. After executing the above step S72 or S74, the process proceeds to step S16. Step S70 above
~ S74 corresponds to the changing means, and step S16 corresponds to the second stopping means.

In step S16, when there is a parallel running vehicle within a predetermined distance of the adjacent lane adjacent to the guide line in which the vehicle is deviating, or an oncoming vehicle or an obstacle exists within the predetermined distance of the adjacent lane. In this case, or if the guideline for the vehicle to deviate is a line forbidden to protrude such as a yellow overpass prohibited line, the alarm on is reset in step S18.

As described above, the predetermined distance for detecting a parallel running vehicle is set to be large in the adjacent lane in the opposite lane direction and small in the adjacent lane in the roadside direction according to the departure direction of the vehicle. Even when there is a high-speed vehicle trying to overtake the vehicle from the adjacent lane in the opposite lane direction, the departure warning for this vehicle can be appropriately issued similarly to the vehicle in the adjacent lane in the roadside direction.

Instead of setting the above-mentioned predetermined distance,
A configuration may be adopted in which a predetermined time is set and a warning is issued by determining whether or not the vehicle in the adjacent lane reaches the own vehicle position within this predetermined time. In this case, the predetermined time for the vehicle in the adjacent lane in the opposite lane direction is set to be large, and the predetermined time for the vehicle in the adjacent lane in the roadside direction is set to be small. In the second to fifth embodiments, the steps S70 to S74 may be similarly added immediately before the steps S26, S36, S46 and S56.

[0040]

As described above, the invention according to claim 1 is
In a traveling lane departure warning device having a traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and an alarm means for giving an alarm when the vehicle is likely to depart from the traveling lane based on the recognition result, It has a first relative speed detecting means for detecting a relative speed with respect to a preceding object in the vehicle traveling lane, and a first prohibiting means for prohibiting an alarm when the preceding object approaches the own vehicle at a predetermined speed or more.

Therefore, when a preceding object such as a preceding vehicle or an obstacle approaches the own vehicle at a predetermined speed or more, an alarm is prohibited when the traveling lane is changed in order to avoid this, so that it is unnecessary. The alarm can be prevented. The invention according to claim 2 is a warning lane recognition means for recognizing a driving lane on a road and a vehicle position on the driving lane, and an alarm for issuing a warning when the vehicle is likely to depart from the driving lane based on the recognition result. In the traveling lane departure warning device having means, a distance detecting means for detecting a distance to a preceding object in the vehicle traveling lane, and a second prohibiting means for prohibiting an alarm when the preceding object is within a predetermined distance. Have.

Therefore, when a preceding object such as a preceding vehicle or an obstacle exists within a predetermined distance, the warning is prohibited when changing the driving lane in order to avoid this, so that an unnecessary warning can be prevented. . Further, the invention according to claim 3 is a warning lane recognition means for recognizing a driving lane on a road and a vehicle position on the driving lane, and an alarm for issuing a warning when it is likely to depart from the driving lane based on the recognition result. In a traveling lane departure warning device having means, second relative speed detecting means for detecting a relative speed with respect to a rear object in the vehicle traveling lane, and a warning is prohibited when the rear object approaches the vehicle at a predetermined speed or more. And a third prohibition means.

[0043] this reason, when the rear of the vehicle is approaching to the vehicle greater than or equal to the predetermined speed, kills in a prevent an unnecessary alarm since the alarm is prohibited when an attempt is made to change the travel lane in order to avoid this .

The invention described in claim 4 is the same as claim 1
To the traveling lane departure warning system according to any one of 3, when the vehicle enters the road shoulder deviates from the lane, having a first stopping means for stopping the operation of the inhibiting means.

Therefore, when the own vehicle deviates from the traveling lane and enters the shoulder of the road, the warning can be continued and the deviation of the own shoulder can be prevented. Further, the invention according to claim 5 is the traveling lane departure warning device according to any one of claims 1 to 3 , wherein a vehicle within a predetermined distance or time of a traveling lane adjacent to the lane in which the vehicle is traveling is provided. Adjacent lane vehicle detection means, variable means for varying the predetermined distance or time depending on whether the direction in which the vehicle departs from the traveling lane is the opposite lane direction or the roadside direction, and the adjacent lane vehicle detection means Second stop means for stopping the operation of the prohibiting means at the time of detection by.

Therefore, the distance or time to the vehicle in the adjacent lane for which the alarm is prohibited can be varied according to the departure direction of the traveling lane, and the alarm prohibiting operation can be optimally performed.

[Brief description of drawings]

FIG. 1 is a principle diagram of the present invention.

FIG. 2 is a schematic diagram of a system of the device of the present invention.

FIG. 3 is a block diagram of an alarm system ECU.

FIG. 4 is a flowchart of main processing.

FIG. 5 is a diagram for explaining the present invention.

FIG. 6 is a flowchart of a first embodiment of alarm on / off processing according to the present invention.

FIG. 7 is a flowchart of a second embodiment of the alarm on / off processing of the present invention.

FIG. 8 is a flowchart of a third embodiment of the alarm on / off processing of the present invention.

FIG. 9 is a flow chart of a fourth embodiment of alarm on / off processing of the present invention.

FIG. 10 is a flow chart of a fifth embodiment of alarm on / off processing of the present invention.

FIG. 11 is a flowchart of a sixth embodiment of the alarm on / off processing of the present invention.

FIG. 12 is a flowchart of a seventh embodiment of alarm on / off processing of the present invention.

FIG. 13 is a diagram for explaining the embodiment shown in FIG.

[Explanation of symbols]

10, 11, 12 image sensor 14 Image processing recognition device 16 Alarm system ECU 18 GPS device 20 Navigation device 22 Road infrastructure system communication device 24 sensor group 30 CPU 32 ROM 34 RAM 36 input port circuit 38 Output port circuit 40 communication circuit 42 common bus

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Claims (5)

(57) [Claims] 1. A traveling lane having traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and warning means for issuing an alarm when the vehicle is likely to deviate from the traveling lane based on the recognition result. In the deviation warning device, the first one for detecting the relative speed of the preceding lane in the vehicle traveling lane
And a first prohibiting means for prohibiting an alarm when the preceding object approaches the own vehicle at a predetermined speed or more, and a traveling lane departure warning device. 2. A traveling lane having traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and warning means for giving an alarm when the vehicle is likely to depart from the traveling lane based on the recognition result. The deviation warning device is characterized by further comprising: distance detecting means for detecting a distance to a preceding object in the vehicle traveling lane; and second prohibiting means for prohibiting an alarm when the preceding object is within a predetermined distance. Driving lane departure warning device. 3. A traveling lane having traveling lane recognition means for recognizing a traveling lane on a road and a vehicle position on the traveling lane, and warning means for giving an alarm when the vehicle is likely to depart from the traveling lane based on the recognition result. In the deviation warning device, the second speed for detecting the relative speed with respect to the rear object in the vehicle traveling lane.
And a third prohibiting means for prohibiting an alarm when the rear object approaches the own vehicle at a predetermined speed or more, and a traveling lane departure warning device. 4. The traveling according to any one of claims 1 to 3.
In the lane departure warning device, when the vehicle deviates from the traveling lane and enters the shoulder,
It has a first stopping means for stopping the operation of the prohibiting means.
A lane departure warning system characterized by the following . 5. The traveling according to any one of claims 1 to 3.
In the lane departure warning device, a predetermined lane of the traveling lane adjacent to the lane in which the own vehicle is traveling.
Adjacent lane vehicle detection hand that detects vehicles within distance or time
Steps, the vehicle deviates from the driving lane for the predetermined distance or time
Allowed when the direction is opposite lane or roadside
Changeable means and the prohibited hand at the time of detection by the adjacent lane vehicle detection means.
Second stop means for stopping the operation of the stage.
A distinctive driving lane departure warning device.