JP7703887B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device. More specifically, the present invention relates to a vehicle control device that can prevent excessive activation of a lane departure prevention function when the driver intentionally deviates from the lane.

For example, a technology is known that detects lane markings laid on the right and left sides of a lane using, for example, a CCD camera, and notifies the driver of driving assistance information based on the detected lane markings, with the aim of preventing the vehicle from departing from the lane in which it is traveling. Driving assistance information is information that is notified to the driver with the aim of preventing the vehicle from departing from the lane in which it is traveling. Furthermore, lane markings are lines laid on the right and left sides of a lane, and are sometimes simply referred to as "white lines."

However, when roadside objects that are expected to cause severe damage if the vehicle comes into contact with them, such as curbs, guardrails, and/or concrete side walls, are located outside the lane markings, it may be preferable to notify the driver of driving assistance information so that the vehicle travels on the inside of the lane rather than based on the detected lane markings.

There is known a driving assistance device that includes a means for detecting lane markings, a means for detecting roadside objects laid on the right and left sides of the lane on which the vehicle is traveling, a means for estimating the position of a virtual lane marking, and a means for outputting driving assistance information based on the position of the virtual lane marking (see, for example, Patent Document 1). A virtual lane marking is a virtual lane marking that is estimated based on the detected lane markings and roadside objects, and a position inside the detected lane marking is estimated as the position of the virtual lane marking. With this driving assistance device, driving assistance information based on a virtual lane marking that is set inside the lane marking that is actually detected is notified to the driver, so that appropriate driving assistance information can be output.

However, when a function such as notification of driving assistance information and/or steering control for the purpose of preventing the vehicle from departing from the lane (hereinafter, sometimes referred to as a "lane departure prevention function") is executed based on the above-mentioned virtual dividing lines, the driver may feel annoyed and/or uncomfortable. For example, in a situation where there is no obstacle between the roadside object and the vehicle and there is a sufficient distance between the roadside object and the vehicle, the risk of the vehicle departing from the lane is not high. Nevertheless, when a lane departure prevention function based on a virtual dividing line set inside the lane from the actually detected vehicle dividing line is executed, the driver may feel annoyed and/or uncomfortable. Furthermore, when a lane departure prevention function based on a virtual dividing line is executed when the driver intentionally deviates the vehicle from the lane to avoid an obstacle such as an adjacent vehicle, the driver may feel significant annoyance and/or discomfort.

JP 2011-175676 A

As mentioned above, there is a demand in this technical field for a vehicle control device that can prevent the lane departure prevention function from over-activating when the driver intentionally deviates from the lane.

As a result of extensive research, the inventors have found that the above problem can be solved by outputting driving assistance information based on the position of the roadside object rather than the position of the lane marking when a lane marking and a roadside object are both detected and there is a high possibility of contact between the vehicle and the roadside object.

Specifically, the vehicle control device according to the present invention (hereinafter, may be referred to as the "device of the present invention") is a vehicle control device that includes a white line detection unit, a roadside object detection unit, and an information output unit. The white line detection unit detects lane markings laid on the right and left sides of the lane on which the vehicle is traveling. The roadside object detection unit detects roadside objects laid along the lane markings. The information output unit outputs driving assistance information based on the positions of the lane markings detected by the white line detection unit and the positions of the roadside objects detected by the roadside object detection unit. The driving assistance information is information for preventing the vehicle from deviating from the lane.

Furthermore, the information output unit of the device of the present invention is configured to use different conditions and base targets for outputting driving assistance information depending on the state of the vehicle, lane markings, and roadside objects. Specifically, the information output unit is configured to output driving assistance information based on a specified target when a specified condition is met in each of the first to third states listed below.

The first state is a state in which a lane marking has been detected by the white line detection unit and a roadside object has been detected by the roadside object detection unit. In this first state, when the contact possibility, which is the possibility of contact between the roadside object and the vehicle, is equal to or greater than a first threshold, which is a predetermined threshold, the information output unit outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit.

The second state is a state in which a lane marking is detected by the lane marking detection unit and a roadside object is not detected by the roadside object detection unit. In this second state, when the departure possibility, which is the possibility that the vehicle will deviate from the lane, is equal to or greater than a second threshold, which is a predetermined threshold, the information output unit outputs driving assistance information based on the position of the lane marking detected by the lane marking detection unit.

The third state is a state in which no lane markings are detected by the white line detection unit and a roadside object is detected by the roadside object detection unit. In this third state, if the contact possibility, which is the possibility of contact between the roadside object and the vehicle, is equal to or greater than a third threshold, which is a predetermined threshold, the information output unit outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit.

As described above, in the device of the present invention, when a roadside object is detected by the roadside object detection unit, the information output unit is configured to output driving assistance information based on the position of the roadside object, not the position of the lane marking, even if the lane marking is detected by the white line detection unit. Therefore, it is possible to reduce the possibility that the lane departure prevention function based on a virtual lane marking set inside the lane marking that is actually detected, as in the driving assistance device according to the conventional technology described above (hereinafter, sometimes referred to as the "conventional device"), is executed, causing the driver to feel annoyed and/or uncomfortable.

Other objects, features and associated advantages of the present invention will be readily understood from the following description of the embodiments and examples of the present invention, which are given with reference to the drawings.

1 is a block diagram showing an example of a configuration of a vehicle control device (first device) according to a first embodiment of the present invention; 4 is a flowchart showing an example of an operation of a driving assistance ECU 1 corresponding to a first device. 10 is a flowchart showing an example of an operation of a driving assistance ECU 1 corresponding to a vehicle control device (second device) according to a second embodiment of the present invention. 1 is a block diagram showing an example of a configuration of a vehicle control device according to an embodiment of the present invention (embodiment device);

First Embodiment
Hereinafter, a vehicle control device (hereinafter, sometimes referred to as a "first device") according to a first embodiment of the present invention will be described in detail with reference to the drawings. The first device is a device that is mounted on a vehicle and outputs driving support information to a driver. First, an example of the configuration of the first device mounted on a vehicle will be described with reference to FIG. 1.

<composition>
Fig. 1 is a block diagram showing an example of a configuration of a first device. As shown in Fig. 1, a driving assistance ECU (Electronic Control Unit) 1 (corresponding to a first device) according to a first embodiment of the present invention is communicably connected to an input device 2 and an output device 3 as peripheral devices.

The input device 2 is a functional unit that includes an imaging device such as a CCD camera and transmits image information to the driving assistance ECU 1. As described later in the embodiment of the present invention, the input device 2 may include a navigation system, a steering torque detection sensor, a turn signal detection switch, and the like in addition to the imaging device. Information acquired from these is output from the input device 2 to the driving assistance ECU 1, and the driving assistance ECU 1 detects lane markings, roadside objects, and the like based on the information.

The driving assistance ECU 1 may detect lane markings and roadside objects using methods other than those described above. For example, the driving assistance ECU 1 may detect roadside objects using a radar device provided in the input device 2. In addition, the imaging device provided in the input device 2 is not limited to a CCD camera, and may be a camera that employs a method different from that of a CCD camera, such as a CMOS (Complementary Metal Oxide Semiconductor) camera.

Lane markings are landmarks that are laid on the right and left sides of the lane on which vehicles travel to separate the lanes. Lane markings include not only white lines that are drawn continuously in a linear fashion, but also white or yellow dashed lines that are placed intermittently at a specified interval and form a line by connecting adjacent lines, Bott's dots (dots with a diameter of about 10 cm), and cat's eyes (reflectors). Roadside objects are objects that are laid along the lane markings, and include, for example, guardrails, side walls, medians, curbs, and roadside trees.

The output device 3 includes output devices such as a display and a speaker, and notifies the driver of driving assistance information by images, text, sound, etc., according to instructions from the driving assistance ECU 1. For example, if the driving assistance ECU 1 determines that there is a high possibility that the vehicle will deviate to the right from the lane in which it is traveling, a warning screen or the like is displayed on the display, or a warning sound and/or voice guidance, etc. is output from the speaker, based on instructions from the driving assistance ECU 1.

In addition to the above, the output device 3 may be equipped with a steering control device including a steering control ECU. The steering control ECU is an ECU that executes steering control, and in this case, applies a predetermined torque to the steering wheel according to instructions from the driving assistance ECU 1. For example, if the driving assistance ECU 1 determines that there is a high possibility that the vehicle will deviate to the right from the lane in which it is traveling, the steering control device applies a torque to the steering wheel to encourage steering to the left based on instructions from the driving assistance ECU 1.

As illustrated in FIG. 1, the driving assistance ECU 1 corresponding to the first device is a vehicle control device including a white line detection unit 11, a roadside object detection unit 12, and an information output unit 13. The white line detection unit 11 detects lane markings laid on the right and left sides of the lane on which the vehicle is traveling. More specifically, the white line detection unit 11 detects lane markings laid on the right and left sides of the lane on which the vehicle is traveling based on information acquired by an input device 2 such as a CCD camera. The roadside object detection unit 12 detects roadside objects laid along the lane markings. More specifically, the roadside object detection unit 12 detects roadside objects laid along the lane markings based on information acquired by an input device 2 such as a CCD camera. The information output unit 13 outputs driving assistance information based on the positions of the lane markings detected by the white line detection unit 11 and the positions of the roadside objects detected by the roadside object detection unit 12.

The driving assistance information is information for preventing the vehicle from deviating from the lane, and based on this information, for example, an output device as the output equipment 3 may display an alarm screen, an alarm sound, and/or voice guidance to the driver, or a steering control device may apply a predetermined torque to the steering wheel.

The driving assistance ECU 1 causes a microcomputer disposed at an appropriate location in the driving assistance ECU 1 to execute a control program that is pre-stored in a ROM (Read Only Memory) or the like disposed at an appropriate location in the driving assistance ECU 1. As a result, the driving assistance ECU 1 causes the microcomputer to function as a white line detection unit 11, a roadside object detection unit 12, and an information output unit 13.

<Operation>
Next, the operation of the first device will be described below. In the driving assistance ECU 1 corresponding to the first device, the information output unit 13 is configured to use different conditions and base targets for outputting driving assistance information depending on the state of the vehicle, the lane markings, and the roadside objects. Specifically, the information output unit 13 is configured to output driving assistance information based on a predetermined target when a predetermined condition is satisfied in each of the first to third states listed below.

The first state is a state in which a lane marking has been detected by the white line detection unit 11 and a roadside object has been detected by the roadside object detection unit 12. In such a first state, when the contact possibility, which is the possibility of contact between the roadside object and the vehicle, is equal to or greater than a first threshold, which is a predetermined threshold, the information output unit 13 outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12.

The second state is a state in which a lane marking is detected by the lane marking detection unit 11 and a roadside object is not detected by the roadside object detection unit 12. In such a second state, when the departure possibility, which is the possibility that the vehicle will deviate from the lane, is equal to or greater than a second threshold, which is a predetermined threshold, the information output unit 13 outputs driving assistance information based on the position of the lane marking detected by the lane marking detection unit 11.

The third state is a state in which no lane markings are detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12. In such a third state, when the contact possibility, which is the possibility of contact between the roadside object and the vehicle, is equal to or greater than a third threshold, which is a predetermined threshold, the information output unit 13 outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12.

The first and third thresholds described above are both targets for comparison of the possibility of contact when determining whether or not to output driving assistance information based on the position of a roadside object detected by the roadside object detection unit 12. These two thresholds may be the same value or different values.

Figure 2 is a flowchart showing an example of the operation of the driving assistance ECU 1. First, in step S11, the driving assistance ECU 1 determines whether or not a first state is established based on information acquired from the input device 2. More specifically, it determines whether or not a lane marking has been detected by the white line detection unit 11 and a roadside object has been detected by the roadside object detection unit 12.

If it is determined in step S11 that the "first state exists," then in the next step S12, the driving assistance ECU 1 calculates a contact probability Pc, which is the possibility of contact between the roadside object and the vehicle. At this time, the contact probability Pc is calculated based on, for example, information about the roadside object (e.g., the position, shape, size, and material of the roadside object) and information about the vehicle (e.g., the position, shape, size, speed, and traveling direction of the vehicle).

Next, in step S13, the driving assistance ECU 1 determines whether there is a high possibility of contact between the roadside object and the vehicle and whether there is a high need to avoid contact between the two. More specifically, it determines whether the contact possibility Pc calculated in step S12 is equal to or greater than a first threshold value Th1, which is a predetermined threshold value.

If it is determined in step S13 that the "contact probability Pc is equal to or greater than the first threshold value Th1," there is a high possibility that the roadside object and the vehicle will come into contact, and there is a high need to avoid contact between the two. Therefore, in the next step S14, the information output unit 13 outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, rather than driving assistance information based on the lane markings detected by the white line detection unit 11, and the output device 3 executes a lane departure prevention function based on the driving assistance information. As a result, the possibility of contact between the roadside object and the vehicle is reduced.

On the other hand, if it is determined in step S13 that the "contact probability Pc is less than the first threshold value Th1," the possibility of contact between the roadside object and the vehicle is low, and there is little need to avoid contact between the two. Therefore, the next step S14 is skipped.

As described above, in the first state (a state in which the lane markings are detected by the white line detection unit 11 and roadside objects are detected by the roadside object detection unit 12), driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, rather than the position of the lane markings detected by the white line detection unit 11, is output from the information output unit 13 to the output device 3. This reduces the possibility of the vehicle coming into contact with the roadside object in the first state, and reduces the possibility that the lane departure prevention function based on the virtual lane markings set inside the lane markings that are actually detected, as in the driving assistance device according to the conventional technology described above (conventional device), will be executed, causing the driver to feel annoyed and/or uncomfortable.

On the other hand, if it is determined in step S11 that the "first state is not established," then in the next step S21, the driving assistance ECU 1 determines whether or not the second state is established based on the information acquired from the input device 2. More specifically, it determines whether or not the lane markings are detected by the white line detection unit 11 and no roadside object is detected by the roadside object detection unit 12.

If it is determined in step S21 that the second state exists, then in the next step S22, the driving assistance ECU 1 calculates a departure possibility Pd, which is the possibility that the vehicle will deviate from the lane. At this time, the departure possibility Pd is calculated based on, for example, information about the lane markings (e.g., the position and shape of the lane markings) and information about the vehicle (e.g., the position, shape, size, speed, and traveling direction of the vehicle).

Next, in step S23, the driving assistance ECU 1 determines whether there is a high possibility that the vehicle will deviate from the lane. More specifically, it determines whether the deviation possibility Pd calculated in step S22 is equal to or greater than a second threshold value Th2, which is a predetermined threshold value.

If it is determined in step S23 that the "deviation possibility Pd is equal to or greater than the second threshold value Th2," then in the next step S24, the information output unit 13 outputs driving assistance information based on the lane markings detected by the white line detection unit 11, and the output device 3 executes a lane departure prevention function based on the driving assistance information.

On the other hand, if it is determined in step S23 that the departure possibility Pd is less than the second threshold value Th2, the vehicle is unlikely to depart from the lane. Therefore, the next step S24 is skipped.

As described above, in the second state (a state in which the lane markings are detected by the white line detection unit 11 and no roadside objects are detected by the roadside object detection unit 12), driving assistance information based on the position of the lane markings detected by the white line detection unit 11 is output from the information output unit 13 to the output device 3. As a result, in the second state, a lane departure prevention function similar to that of the conventional device is executed, reducing the possibility of the vehicle departing from the lane.

On the other hand, if it is determined in step S21 that the "second state is not established," then in the next step S31, the driving assistance ECU 1 determines whether or not the third state is established based on the information acquired from the input device 2. More specifically, it determines whether or not the lane markings are not detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12.

If it is determined in step S31 that the "third state exists," then in the next step S32, the driving assistance ECU 1 calculates a contact probability Pc, which is the possibility of contact between the roadside object and the vehicle. At this time, the contact probability Pc is calculated based on, for example, information about the roadside object (e.g., the position, shape, size, and material of the roadside object) and information about the vehicle (e.g., the position, shape, size, speed, and traveling direction of the vehicle).

Next, in step S33, the driving assistance ECU 1 determines whether there is a high possibility of contact between the roadside object and the vehicle and whether there is a high need to avoid contact between the two. More specifically, it determines whether the contact possibility Pc calculated in step S32 is equal to or greater than a third threshold value Th3, which is a predetermined threshold value. As described above, the third threshold value Th3 may be the same value as the first threshold value Th1 or may be a different value.

If it is determined in step S33 that the "contact probability Pc is equal to or greater than the third threshold value Th3," there is a high possibility that the roadside object and the vehicle will come into contact, and there is a high need to avoid contact between the two. Therefore, in the next step S34, the information output unit 13 outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, and the output device 3 executes a lane departure prevention function based on the driving assistance information. As a result, the possibility of contact between the roadside object and the vehicle is reduced.

On the other hand, if it is determined in step S33 that the "contact probability Pc is less than the third threshold value Th3," the possibility of contact between the roadside object and the vehicle is low, and there is little need to avoid contact between the two. Therefore, the next step S34 is skipped.

As described above, in the third state (a state in which no lane markings are detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12), driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12 is output from the information output unit 13 to the output device 3. As a result, in the third state, a lane departure prevention function similar to that of the conventional device is executed, reducing the possibility of contact between the vehicle and the roadside object.

<effect>
As described above, according to the first device, in the first state (a state in which a lane marking has been detected by the white line detection unit 11 and a roadside object has been detected by the roadside object detection unit 12), driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, rather than the position of the lane marking detected by the white line detection unit 11, is output from the information output unit 13 to the output device 3. This reduces the possibility of the vehicle coming into contact with the roadside object in the first state, and reduces the possibility that the lane departure prevention function based on a virtual lane marking set inside the lane marking that is actually detected as in the driving assistance device according to the conventional technology described above (conventional device) is executed, causing the driver to feel annoyed and/or uncomfortable.

Second Embodiment
A vehicle control device according to a second embodiment of the present invention (hereinafter, may be referred to as a "second device") will be described in detail below with reference to the drawings. As described above, according to the first device, in the first state (a state in which a lane marking is detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12), driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, rather than the position of the lane marking detected by the white line detection unit 11, is output from the information output unit 13 to the output device 3.

However, if an obstacle exists between the lane markings that define the traveling lane and the roadside object, the vehicle may come into contact with the obstacle when driving assistance is performed based on the position of the roadside object detected by the roadside object detection unit. In addition, if there is a sufficient distance between the roadside object and the vehicle, another object, such as another vehicle, may pass between the roadside object and the vehicle. Therefore, in such a case, when driving assistance is performed based on the position of the roadside object detected by the roadside object detection unit, the vehicle may come into contact with an object (hereinafter, sometimes referred to as a "passing object") passing between the roadside object and the vehicle. Therefore, in the above case, even if the first state is established, driving assistance information based on the position of the lane markings detected by the white line detection unit should be provided to the output device.

<composition>
Therefore, in the second device, even if the first state is established, if there is an obstacle between the lane marking and the roadside object and if there is sufficient distance between the roadside object and the vehicle, the information output unit is configured to output driving assistance information based on the position of the lane marking detected by the white line detection unit, as in the case where the above-mentioned second state is established.

More specifically, the second device is the above-mentioned first device, and is a vehicle control device in which the information output unit is configured to output driving assistance information based on the position of the lane markings detected by the lane marking detection unit when the departure possibility, which is the possibility that the vehicle will depart from the lane, is equal to or greater than a second threshold, which is a predetermined threshold, in both the first state and the fourth state.

The fourth state is a state in which an obstacle that may impede the vehicle's progress is present between the lane marking and the roadside object, or the distance between the roadside object and the vehicle is equal to or greater than a fourth threshold, which is a predetermined threshold. In other words, in the fourth state, if driving assistance is provided based on the position of the roadside object detected by the roadside object detection unit, there is a possibility that the vehicle will come into contact with the obstacle and/or a passing object described above.

Therefore, according to the second device, even if the first state is established, if the fourth state is established, driving assistance information is output from the information output unit 13 to the output device 3 according to the degree of the possibility (deviation possibility Pd) that the vehicle will deviate from the lane.

Figure 3 is a flowchart showing an example of the operation of the driving assistance ECU 1, which corresponds to the second device. The flowchart shown in Figure 3 is similar to the flowchart shown in Figure 2, except that steps S41 and S42 are added between steps S11 and S12. Therefore, the following explanation will mainly focus on the flow of processing before and after steps S41 and S42.

In the second device, as in the first device described above, first, in step S11, the driving assistance ECU 1 determines, based on the information acquired from the input device 2, whether or not the lane markings have been detected by the white line detection unit 11 and whether or not a roadside object has been detected by the roadside object detection unit 12.

If it is determined in step S11 that the "first state exists," then in the first device described above, in the next step S12, the driving assistance ECU 1 calculates the contact probability Pc, which is the possibility of contact between the roadside object and the vehicle. However, in the second device, if it is determined in step S11 that the "first state exists," then in the next step S41, it is determined whether or not there is a free space between the lane marking (white line) and the roadside object. In other words, in step S41, it is determined whether or not there is an obstacle between the lane marking and the roadside object.

If it is determined in step S41 that "there is no free space between the lane marking (white line) and the roadside object," some obstacle exists between the lane marking and the roadside object. In this case, if driving assistance is performed based on the position of the roadside object detected by the roadside object detection unit, there is a possibility that the vehicle will come into contact with the obstacle. Therefore, in this case, it is desirable to perform driving assistance based on the lane marking detected by the white line detection unit 11. Therefore, the process proceeds to step S22 described above, and the driving assistance ECU 1 calculates the departure possibility Pd, which is the possibility that the vehicle will deviate from the lane. Then, if it is determined in the next step S23 that "the departure possibility Pd is equal to or greater than the second threshold value Th2," in the next step S24, the information output unit 13 outputs driving assistance information based on the lane marking detected by the white line detection unit 11, and the output device 3 executes the lane departure prevention function based on the driving assistance information.

On the other hand, if it is determined in step S41 that "there is a free space between the lane marking (white line) and the roadside object," then in the next step S42, it is determined whether the distance between the roadside object and the vehicle is sufficiently narrow for the passing object. In other words, in step S42, it is determined whether the distance D between the roadside object and the vehicle is less than a fourth threshold Th4, which is a predetermined threshold.

If it is determined in step S42 that the distance D between the roadside object and the vehicle is not less than the fourth threshold Th4, which is a predetermined threshold, there is a sufficiently large space between the roadside object and the vehicle. In this case, for example, another object such as another vehicle may pass between the roadside object and the vehicle. Therefore, in such a case, if driving assistance is performed based on the position of the roadside object detected by the roadside object detection unit, the vehicle may come into contact with an object (hereinafter, sometimes referred to as a "passing object") passing between the roadside object and the vehicle. Therefore, in this case, the process also proceeds to step S22 described above, and the driving assistance ECU 1 calculates the deviation possibility Pd, which is the possibility that the vehicle will deviate from the lane. Then, if it is determined in the next step S23 that the deviation possibility Pd is equal to or greater than the second threshold Th2, in the next step S24, the information output unit 13 outputs driving assistance information based on the lane markings detected by the white line detection unit 11, and the output device 3 executes the lane deviation prevention function based on the driving assistance information.

On the other hand, if it is determined in step S42 that the distance D between the roadside object and the vehicle is less than the fourth threshold Th4, which is a predetermined threshold, there is no sufficient space between the roadside object and the vehicle. In this case, since the possibility of a passing object passing between the roadside object and the vehicle is low, driving assistance based on the position of the roadside object detected by the roadside object detection unit may be performed. Therefore, in this case, the process proceeds to the next step S12, and the driving assistance ECU 1 calculates the contact possibility Pc, which is the possibility of contact between the roadside object and the vehicle. Then, if it is determined in the next step S13 that the contact possibility Pc is equal to or greater than the first threshold Th1, in the next step S14, the information output unit 13 outputs driving assistance information based on the position of the roadside object detected by the roadside object detection unit 12, rather than driving assistance information based on the lane markings detected by the white line detection unit 11, and the lane departure prevention function is executed by the output device 3 based on the driving assistance information.

<effect>
As described above, in the second device, even if the first state (a state in which a lane marking is detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12) is established, if the fourth state (a state in which an obstacle that is an object that may impede the progress of the vehicle is present between the lane marking and the roadside object, or a distance between the roadside object and the vehicle is equal to or greater than a fourth threshold that is a predetermined threshold) is established, driving assistance information based on the position of the lane marking detected by the white line detection unit is provided to the output device. Therefore, according to the second device, when the fourth state is established, driving assistance based on the position of the roadside object detected by the roadside object detection unit is performed, thereby making it possible to reduce the possibility of the vehicle coming into contact with a passing object (an object passing between the roadside object and the vehicle).

A vehicle control device according to one embodiment of the present invention (hereinafter, sometimes referred to as the "embodiment device") will be described in detail with reference to the drawings. FIG. 4 is a block diagram showing the configuration of the embodiment device. As shown in FIG. 4, a driving assistance ECU 1 according to this embodiment (corresponding to the embodiment device) is communicatively connected to an input device 2 and an output device 3 as peripheral devices.

The input device 2 includes a CCD camera 21, a navigation system 22, a steering torque detection sensor (hereinafter abbreviated as "steering sensor") 23, and a turn signal detection switch (hereinafter abbreviated as "turn signal SW") 24.

The CDD camera 21 is equipped with a CDD (Charge Coupled Device) and generates image information of the front and sides of the vehicle. The navigation system 22 is equipped with map information and uses a GPS (Global Positioning System) or the like to detect the vehicle position, which is the position of the vehicle on a map, and displays the vehicle position on the map on a display. The steering sensor 23 detects the steering torque generated as a result of steering by the driver via the steering wheel. The turn signal SW 24 detects the result of the turn signal lamp blinking instruction operation operated by the driver via the turn signal lever.

The information acquired from these devices constituting the input device 2 is output from the input device 2 to the driving assistance ECU 1, and the driving assistance ECU 1 detects lane markings, roadside objects, etc. based on the information. Since lane markings and roadside objects have already been described in the description of the vehicle control device (first device) according to the first embodiment of the present invention, a description thereof will be omitted here.

The output device 3 includes a display 31, a speaker 32, and a steering control device 33. The display 31 includes an LCD (Liquid Crystal Display) or the like disposed in front of the driver's seat, and displays images and text (alarm screen) visible to the driver according to instructions from the driving assistance ECU 1. The speaker 32 is disposed to the side of the driver's seat, and outputs voice guidance and/or sounds to the driver according to instructions from the driving assistance ECU 1. The steering control device 33 includes a steering control ECU (not shown) for controlling steering, and applies a predetermined torque to the steering wheel according to instructions from the driving assistance ECU 1.

As shown in FIG. 4, the driving assistance ECU 1 corresponding to the embodiment device is a vehicle control device including a white line detection unit 11, a roadside object detection unit 12, and an information output unit 13. The white line detection unit 11 detects lane markings laid on the right and left sides of the lane on which the vehicle is traveling based on image information acquired from a CCD camera 21 provided in the input device 2. The roadside object detection unit 12 detects roadside objects laid along the lane markings based on image information acquired from the CCD camera 21. The information output unit 13 outputs driving assistance information based on the positions of the lane markings detected by the white line detection unit 11 and the positions of the roadside objects detected by the roadside object detection unit 12.

As described above, the driving assistance information is information for preventing the vehicle from deviating from the lane, and based on the information, the output device serving as the output equipment 3 notifies the driver with a warning screen, a warning sound, and/or voice guidance, etc., and the steering control device applies a predetermined torque to the steering wheel.

The operation of the embodiment device is similar to that described with reference to the flowcharts shown in Figures 2 and 3 in the explanation of the operation of the first and second devices, so a detailed explanation is omitted here.

According to the embodiment device, in the first state (a state in which the lane markings are detected by the lane marking detection unit 11 and the roadside object is detected by the roadside object detection unit 12) in the same manner as the above-mentioned first device, driving support information based on the position of the roadside object detected by the roadside object detection unit 12, rather than the position of the lane markings detected by the lane marking detection unit 11, is output from the information output unit 13 to the output device 3. This reduces the possibility of the vehicle coming into contact with the roadside object in the first state, and reduces the possibility of the driver feeling annoyed and/or uncomfortable when a lane departure prevention function based on a virtual lane marking set inside the lane marking that is actually detected is executed as in the driving support device according to the above-mentioned conventional technology (conventional device).

In addition, similar to the second device described above, in the device of the embodiment, even if the first state (a state in which the lane marking is detected by the white line detection unit 11 and a roadside object is detected by the roadside object detection unit 12) is established, if the fourth state (a state in which an obstacle that may impede the progress of the vehicle exists between the lane marking and the roadside object, or a state in which the distance between the roadside object and the vehicle is equal to or greater than a fourth threshold that is a predetermined threshold) is established, driving assistance information based on the position of the lane marking detected by the white line detection unit is provided to the output device. Therefore, according to the device of the embodiment, when the fourth state is established, driving assistance based on the position of the roadside object detected by the roadside object detection unit is performed, and the possibility of the vehicle coming into contact with a passing object (an object passing between the roadside object and the vehicle) can be reduced.

For the purpose of explaining the present invention, several embodiments and examples having specific configurations have been described with reference to the attached drawings. However, the scope of the present invention should not be construed as being limited to these exemplary embodiments and examples, and it goes without saying that appropriate modifications can be made within the scope of the claims and the matters described in the specification.

1...Driving assistance ECU
REFERENCE SIGNS LIST 11: white line detection section 12: roadside object detection section 13: information output section 2: input device 21: CCD camera 22: navigation system 23: steering sensor 24: turn signal SW
3: Output device 31: Display 32: Speaker 33: Steering control device

Claims (1)

a white line detection unit that detects lane markings laid on the right and left sides of a lane on which a vehicle is traveling;
a roadside object detection unit that detects roadside objects laid along the lane markings;
an information output unit that outputs driving support information for preventing the vehicle from deviating from the lane based on the position of the lane marking detected by the white line detection unit and the position of the roadside object detected by the roadside object detection unit; and
A vehicle control device comprising:
The information output unit is
in a first state in which the lane marking is detected by the white line detection unit and the roadside object is detected by the roadside object detection unit, when a contact possibility between the roadside object and the vehicle is equal to or greater than a first threshold which is a predetermined threshold, outputting the driving assistance information based on a position of the roadside object detected by the roadside object detection unit;
in a second state in which the lane marking has been detected by the white line detection unit and the roadside object has not been detected by the roadside object detection unit, when a departure possibility that the vehicle will deviate from the lane is equal to or greater than a second threshold that is a predetermined threshold, outputting the driving assistance information based on a position of the lane marking detected by the white line detection unit;
In a third state in which the lane marking is not detected by the white line detection unit and the roadside object is detected by the roadside object detection unit, when a contact possibility between the roadside object and the vehicle is equal to or greater than a third threshold, which is a predetermined threshold, the driving assistance information is output based on the position of the roadside object detected by the roadside object detection unit.
It is configured as follows:
Vehicle control device.

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