Operation support device, operation support method and program

Abstract

To appropriately determine whether a deviation from a traffic lane is intentional by a driver of an own vehicle.SOLUTION: An operation support device 14 comprises: an acquisition section 3A which acquires a detection result of a surrounding situation sensor 11 detecting a surrounding situation of an own vehicle 1; and a determination section 3B which determines whether a deviation of the own vehicle 1 from a traffic lane is intentional by a driver of the own vehicle 1 based on the detection result of the surrounding situation sensor 11 acquired by the acquisition section 3A. When the acquisition section 3A acquires the detection result from the surrounding situation sensor 11 indicating that the own vehicle 1 has deviated from the traffic lane while following a preceding vehicle, the determination section 3B determines that the deviation of the own vehicle 1 from the traffic lane is intentional by the driver of the own vehicle 1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a driving support device, a driving support method, and a program.

Background Art

[0002] Patent Document 1 describes a technique for issuing a warning according to the driving situation when a vehicle has deviated from its lane. In the technique described in Patent Document 1, when the lane departure direction and the direction of the turn signal are the same, it is determined that the driver's action is intentional, the driver's line-of-sight direction is detected, and when it is determined that the driver's attention to driving is scattered from the driver's line-of-sight direction, the threshold value of the lane departure amount is adjusted so that a warning is likely to be issued. It is determined whether the driver recognizes an obstacle based on the driver's line-of-sight direction, and the warning level for the lane departure of the host vehicle is determined according to the determination result of this determination unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, Patent Document 1 does not describe the case where the host vehicle follows a preceding vehicle that has deviated from its lane and deviates from its lane. In the technique described in Patent Document 1, when the host vehicle follows a preceding vehicle that has deviated from its lane and deviates from its lane, appropriate control is not performed. Therefore, in the technique described in Patent Document 1, for example, when construction work, an accident, a breakdown vehicle, etc. cause the preceding vehicle and the host vehicle to be unable to continue traveling in the lane they are traveling in, and the preceding vehicle and the host vehicle change lanes to avoid, for example, construction work, an accident, a breakdown vehicle, etc. without turning on the turn signal, there is a risk that it may be determined that the driver's action is not intentional.

[0005] In view of the above points, an object of the present disclosure is to provide a driving support device, a driving support method, and a program that can appropriately determine whether a lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

Means for Solving the Problems

[0006] (1) One aspect of the present disclosure includes an acquisition unit that acquires a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle, and a determination unit that determines whether a lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle based on the detection result acquired by the acquisition unit. When the acquisition unit acquires the detection result indicating that the host vehicle has deviated from the lane while following a preceding vehicle that has deviated from the lane, the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle. This is a driving support device.

[0007] (2) In the driving support device of (1), when the acquisition unit acquires the detection result indicating that the host vehicle has deviated from the lane and information indicating that the HMI has received an operation to blink the hazard lamp, the determination unit may determine that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0008] (3) In the driving support device of (2), when the HMI has received an operation to blink the hazard lamp before the host vehicle deviates from the lane, the determination unit may determine that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0009] (4) In the driving support device of (3), when the surrounding situation sensor has detected the running of an emergency vehicle and the HMI has received an operation to blink the hazard lamp before the host vehicle deviates from the lane, the determination unit may determine that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0010] In the driving assistance device of (5)(3), when the host vehicle receives emergency information before deviating from the lane and the HMI receives an operation to blink the hazard lamp, the determination unit may determine that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0011] The driving assistance device of (6)(1) may include a control unit that performs driving assistance for lane change of the host vehicle when the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0012] In the driving assistance device of (7)(6), the control unit may execute control to automatically turn on the turn signal without an operation by the driver of the host vehicle.

[0013] In the driving assistance device of (8)(6), the control unit may execute control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane.

[0014] The driving assistance device of (9)(1) may include a control unit that executes control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane when the determination unit determines that the lane departure of the host vehicle is not an intentional lane departure by the driver of the host vehicle.

[0015] One aspect of the present disclosure is a driving assistance method including: an acquisition step in which a driving assistance device acquires a detection result of a surrounding situation sensor that detects a surrounding situation of a host vehicle; and a determination step in which the driving assistance device determines whether or not the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle based on the detection result acquired in the acquisition step. When the detection result indicating that the host vehicle has followed a preceding vehicle that has deviated from the lane and has itself deviated from the lane is acquired in the acquisition step, in the determination step, it is determined that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

[0016] (11) One aspect of the present disclosure is a program for causing a processor to execute an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of a host vehicle, and a determination step of determining whether or not a lane departure of the host vehicle is an intentional lane departure by a driver of the host vehicle based on the detection result acquired in the acquisition step. When the detection result indicating that the host vehicle has followed a preceding vehicle that has deviated from the lane and has deviated from the lane is acquired in the acquisition step, in the determination step, it is determined that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

Effect of the Invention

[0017] According to the present disclosure, it is possible to appropriately determine whether or not a lane departure is an intentional lane departure by the driver of the host vehicle.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0019] Hereinafter, embodiments of the driving support device, driving support method, and program of the present disclosure will be described with reference to the drawings.

[0020] <First Embodiment> FIG. 1 is a diagram showing an example of a host vehicle 1 to which the driving support device 14 of the first embodiment is applied. In the example shown in FIG. 1, the host vehicle 1 includes a surrounding situation sensor 11, a vehicle state sensor 12, an HMI (Human Machine Interface) 13, a driving support device 14, a steering actuator 15A, a braking actuator 15B, a driving actuator 15C, a hazard lamp 15D, and a blinker 15E. The surrounding situation sensor 11 detects the surrounding situation of the host vehicle 1 (for example, objects existing around the host vehicle 1 (for example, lane dividing lines defining the lane in which the host vehicle 1 is traveling, surrounding vehicles such as a preceding vehicle PV (see FIG. 2), structures, etc.)), and transmits the detection result to the driving support device 14. The surrounding situation sensor 11 includes, for example, a camera that captures the front of the host vehicle 1, LiDAR (Light Detection And Ranging), etc. The vehicle state sensor 12 detects the state of the host vehicle 1 and transmits the detection result to the driving support device 14. The vehicle state sensor 12 includes, for example, a vehicle speed sensor, an acceleration sensor, etc. The HMI 13 has functions such as receiving various operations of the driver of the host vehicle 1, and outputting warnings, etc. to the driver of the host vehicle 1 by display, voice, etc., and transmits a signal indicating the operation of the driver of the host vehicle 1 to the driving support device 14 (transmits information indicating that the operation of the driver of the host vehicle 1 has been received to the driving support device 14).

[0021] The driving support device 14 is constituted by, for example, a driving support ECU (Electronic Control Unit) or the like. The driving support device 14 is constituted by a microcomputer including a communication interface (I / F) 141, a memory 142, and a processor 143. The communication interface 141 has an interface circuit for connecting the driving support device 14 to the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the steering actuator 15A, the braking actuator 15B, the driving actuator 15C, the hazard lamp 15D, and the blinker 15E. The memory 142 stores programs and various data used in the processes executed by the processor 143. The processor 143 has functions as an acquisition unit 3A, a determination unit 3B, and a control unit 3C.

[0022] The acquisition unit 3A acquires the detection result of the surrounding situation sensor 11. The acquisition unit 3A acquires, for example, the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane. Specifically, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling based on the detection result (sensor data of the surrounding situation sensor mounted on the host vehicle) of the surrounding situation sensor mounted on the learning vehicle, and uses a model obtained by performing learning using teacher data that is a data set of the detection result of the surrounding situation sensor mounted on the learning vehicle (sensor data of the surrounding situation sensor mounted on the learning vehicle) and a label indicating whether or not the learning vehicle has deviated from the lane in which the learning vehicle is traveling during travel, and has a function of acquiring information indicating whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling. In addition, the acquisition unit 3A has a function of estimating the travel locus of the host vehicle 1 based on the detection result (time-series sensor data of the surrounding situation sensor 11) of the surrounding situation sensor 11 indicating, for example, a dividing line or the like that defines the lane in which the host vehicle 1 is traveling, and acquiring information indicating the travel locus of the host vehicle 1.

[0023] Furthermore, the acquisition unit 3A has a function of estimating the travel trajectory of the preceding vehicle PV (see FIG. 2) based on the detection result of the surrounding situation sensor 11 (the time-series sensor data of the surrounding situation sensor 11) and acquiring information indicating the travel trajectory of the preceding vehicle PV. Specifically, the acquisition unit 3A has a function of estimating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling based on the detection result of the surrounding situation sensor 11 (the sensor data of the surrounding situation sensor 11) and acquiring information indicating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling. That is, the acquisition unit 3A has a function of estimating whether or not the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane based on information indicating the travel trajectory of the host vehicle 1, information indicating whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, information indicating the travel trajectory of the preceding vehicle PV, and information indicating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling, and acquiring information indicating whether or not the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane. In addition, the acquisition unit 3A acquires the detection result of the vehicle state sensor 12, a signal indicating the operation of the driver of the host vehicle 1 received by the HMI 13, and the like.

[0024] Based on the detection result of the surrounding situation sensor 11 acquired by the acquisition unit 3A, the determination unit 3B determines whether or not the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. When the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. When the acquisition unit 3A does not acquire the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane (that is, when the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane without following a preceding vehicle PV that has deviated from the lane), the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1.

[0025] The control unit 3C controls the steering actuator 15A, the braking actuator 15B, the driving actuator 15C, the hazard lamp 15D, and the turn signal 15E based on information (data, signals) transmitted from, for example, the surrounding situation sensor 11, the vehicle state sensor 12, and the HMI 13. When the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the control unit 3C executes control to cause the HMI 13 to output an alarm (LDA: Lane Departure Alert) indicating that the host vehicle 1 has deviated from the lane. Specifically, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1 (for example, when the host vehicle 1 departs from the lane due to the driver of the host vehicle 1 looking away while driving, dozing off while driving, etc.), the control unit 3C executes control to cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0026] On the other hand, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, for example, as in the example shown in FIG. 2 described later, the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane. Therefore, it is possible to suppress the possibility that the driver of the host vehicle 1 will feel bothered by the alarm. In other words, in the example shown in FIG. 1, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, for example, as in the example shown in FIG. 2, the control unit 3C executes control to limit the alarm output when the host vehicle 1 deviates from the lane as driving support when the host vehicle 1 changes lanes.

[0027] In another example, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and when the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, for example, as in the example shown in FIG. 2, as driving support when the host vehicle 1 changes lanes, control may be executed to automatically turn on the blinker 15E without the need for an operation by the driver of the host vehicle 1.

[0028] In yet another example, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and when the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1 (for example, when the host vehicle 1 departs from the lane due to the driver of the host vehicle 1 looking away while driving, dozing off while driving, etc.), as driving support when the host vehicle 1 departs from the lane, control (steering assistance) may be executed to operate the steering actuator 15A without the need for an input operation by the driver of the host vehicle 1. In this example, when the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, and when the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, for example, as in the example shown in FIG. 2, control (steering assistance) to operate the steering actuator 15A without the need for an input operation by the driver of the host vehicle 1 is not executed. Therefore, it is possible to suppress the possibility that the driver of the host vehicle 1 feels annoyed by the steering assistance that is executed contrary to the intention of the driver of the host vehicle 1.

[0029] FIG. 2 is a diagram for explaining an example in which the determination unit 3B of the driving support device 14 according to the first embodiment determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. Specifically, FIG. 2(A) shows a state in which the host vehicle 1 is following the preceding vehicle PV and traveling in the same lane as the preceding vehicle PV. FIG. 2(B) shows a state after the preceding vehicle PV has deviated from the lane in which it was traveling (after the preceding vehicle PV has changed lanes) in order to avoid a traffic control point RP caused by, for example, construction, an accident, a breakdown vehicle, etc., and before the host vehicle 1 has deviated from the lane in which it is traveling (before the host vehicle 1 has changed lanes) in order to avoid the traffic control point RP. FIG. 2(C) shows a state after the host vehicle 1 has deviated from the lane in which it was traveling (after the host vehicle 1 has changed lanes) while following the preceding vehicle PV that has deviated (changed lanes) to avoid the traffic control point RP.

[0030] In the example shown in FIG. 2, as shown in FIG. 2(A), the host vehicle 1 is following the preceding vehicle PV and traveling in the same lane as the preceding vehicle PV. In front of the lane in which the preceding vehicle PV and the host vehicle 1 are traveling (the upper side of FIG. 2), there is a traffic control point RP caused by, for example, construction, an accident, a breakdown vehicle, etc. Therefore, the preceding vehicle PV cannot continue to travel in the lane in which it was traveling, and the preceding vehicle PV changes lanes (that is, the preceding vehicle PV departs from the lane) without turning on the turn signal as shown in FIG. 2(B), for example, following the guidance by a traffic controller (not shown). Since the host vehicle 1 following the preceding vehicle PV also cannot continue to travel in the lane in which it is traveling, the host vehicle 1 changes lanes (that is, the host vehicle 1 departs from the lane) without turning on the turn signal, like the preceding vehicle PV, as shown in FIG. 2(C). At this time, if the HMI 13 outputs an alarm (LDA) indicating that the host vehicle 1 has departed from the lane, there is a possibility that the driver of the host vehicle 1 will feel bothered by the alarm. Therefore, in the example shown in FIG. 2, although the acquisition unit 3A acquires information indicating that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling (the detection result of the surrounding situation sensor 11), the acquisition unit 3A also acquires information indicating that the host vehicle 1 has deviated from the lane following the preceding vehicle PV that has deviated from the lane (the detection result of the surrounding situation sensor 11). As a result, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. Consequently, the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane. Therefore, it is possible to suppress the possibility that the driver of the host vehicle 1 will be bothered by the alarm.

[0031] FIG. 3 is a flowchart for explaining an example of the processing executed by the processor 143 of the driving support device 14 according to the first embodiment. In the example shown in FIG. 3, in step S10, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11. In step S11, based on the detection result of the surrounding situation sensor 11 acquired in step S10, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the process proceeds to step S12. If the acquisition unit 3A estimates that the host vehicle 1 has not deviated from the lane in which the host vehicle 1 is traveling, the processing shown in FIG. 3 ends. In step S12, based on the information indicating the traveling locus of the host vehicle 1, the information indicating whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the information indicating the traveling locus of the preceding vehicle PV, and the information indicating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane following the preceding vehicle PV that has deviated from the lane. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane following the preceding vehicle PV that has deviated from the lane, the process proceeds to step S13. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane without following the preceding vehicle PV that has deviated from the lane, the process proceeds to step S15.

[0032] In step S13, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. In step S14, the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0033] In step S15, the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1. In step S16, the control unit 3C causes the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0034] <Second Embodiment> The host vehicle 1 to which the driving support device 14 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 14 of the first embodiment described above is applied, except for the points described below.

[0035] In an example of the host vehicle 1 to which the driving support device 14 of the second embodiment is applied, when the HMI 13 receives an operation of the driver of the host vehicle 1 that blinks the hazard lamp 15D, the acquisition unit 3A acquires information indicating that the HMI 13 has received an operation of blinking the hazard lamp 15D. When the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane and the information indicating that the HMI 13 has received an operation of blinking the hazard lamp 15D, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0036] Specifically, in an example of the host vehicle 1 to which the driving support device 14 of the second embodiment is applied, before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling (specifically, before the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling), when the HMI 13 receives an operation to blink the hazard lamp 15D (specifically, when the acquisition unit 3A acquires information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D), the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0037] FIG. 4 is a diagram for explaining an example in which the determination unit 3B of the driving support device 14 of the second embodiment determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. Specifically, FIG. 4(A) shows a state in which the host vehicle 1 is following the preceding vehicle PV and traveling in the same lane as the preceding vehicle PV. FIG. 4(B) shows a state after the preceding vehicle PV has deviated from the lane in which the host vehicle 1 and the preceding vehicle PV are traveling in order to give way to the emergency vehicle EM traveling in the opposite direction, and the driver of the host vehicle 1 has not yet noticed the travel of the emergency vehicle EM. FIG. 4(C) shows a state in which the driver of the host vehicle 1 who has noticed the travel of the emergency vehicle EM performs an operation to blink the hazard lamp 15D in order to give way to the emergency vehicle EM, and the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling.

[0038] In the example shown in FIG. 4, as shown in FIG. 4(A), the host vehicle 1 is following the preceding vehicle PV and traveling in the same lane as the preceding vehicle PV. Next, as shown in FIG. 4(B), since the emergency vehicle EM is coming in the opposite direction in the lane where the host vehicle 1 and the preceding vehicle PV are traveling, the driver of the preceding vehicle PV who noticed the travel of the emergency vehicle EM performs an operation to blink the hazard lamp in order to yield the road to the emergency vehicle EM, and the preceding vehicle PV deviates from the lane in which it is traveling. On the other hand, in the state shown in FIG. 4(B), the driver of the host vehicle 1 has not yet noticed the travel of the emergency vehicle EM. Next, as shown in FIG. 4(C), the driver of the host vehicle 1 who noticed the travel of the emergency vehicle EM performs an operation to blink the hazard lamp 15D in order to yield the road to the emergency vehicle EM, and the host vehicle 1 deviates from the lane in which it is traveling. At this time, if the HMI 13 outputs an alarm indicating that the host vehicle 1 has deviated from the lane, there is a possibility that the driver of the host vehicle 1 will feel bothered by the alarm. Therefore, in the example shown in FIG. 4, when the HMI 13 receives an operation to blink the hazard lamp 15D before the host vehicle 1 deviates from the lane in which it is traveling, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane. As a result, it is possible to suppress the possibility that the driver of the host vehicle 1 will feel bothered by the alarm.

[0039] In the example shown in FIG. 4, when the hazard lamp 15D is blinked to yield the road to the emergency vehicle EM and the host vehicle 1 deviates from the lane in which it is traveling, an alarm indicating that the host vehicle 1 has deviated from the lane is not output. However, in other examples, when the hazard lamp 15D is blinked to park or stop the host vehicle 1 on the road so as not to interfere with the travel of the following vehicle and the host vehicle 1 deviates from the lane in which it is traveling, an alarm indicating that the host vehicle 1 has deviated from the lane may not be output. In still other examples, when the hazard lamp 15D is blinked to stop the host vehicle 1 that has broken down on a highway or the like on the road shoulder so as not to interfere with the travel of the following vehicle and the host vehicle 1 deviates from the lane in which it is traveling, an alarm indicating that the host vehicle 1 has deviated from the lane may not be output. In still another example, when the driver of the host vehicle 1 notices that an emergency has occurred ahead in the lane in which the host vehicle 1 is traveling, in order to stop the host vehicle 1 on the road shoulder so as not to obstruct the travel of an emergency vehicle or the like heading toward the emergency occurrence location, the hazard lamp 15D is blinked, and even if the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling, an alarm indicating that the host vehicle 1 has deviated from the lane may not be output.

[0040] FIG. 5 is a flowchart for explaining an example of the processing executed by the processor 143 of the driving support device 14 according to the second embodiment. In the example shown in FIG. 5, in step S20, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 and a signal indicating the operation of the driver of the host vehicle 1 received by the HMI 13. In step S21, based on the detection result of the surrounding situation sensor 11 acquired in step S20, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the process proceeds to step S22. If the acquisition unit 3A estimates that the host vehicle 1 has not deviated from the lane in which the host vehicle 1 is traveling, the processing shown in FIG. 5 ends. In step S22, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane, based on the information indicating the travel locus of the host vehicle 1, the information indicating whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the information indicating the travel locus of the preceding vehicle PV, and the information indicating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane, the process proceeds to step S23. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane without following a preceding vehicle PV that has deviated from the lane, the process proceeds to step S25.

[0041] In step S23, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. In step S24, the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0042] In step S25, for example, the determination unit 3B determines whether the HMI 13 has received an operation to blink the hazard lamp 15D before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling (specifically, before the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling). (Specifically, it is determined whether the acquisition unit 3A has acquired information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D). If the HMI 13 has received an operation to blink the hazard lamp 15D before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling, the process proceeds to step S23. If the HMI 13 has not received an operation to blink the hazard lamp 15D before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling, the process proceeds to step S26. In step S26, the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1. In step S27, the control unit 3C causes the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0043] <Third Embodiment> The host vehicle 1 to which the driving support device 14 of the third embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 14 of the second embodiment described above is applied, except as described below.

[0044] In an example of the host vehicle 1 to which the driving support device 14 of the third embodiment is applied, when the acquisition unit 3A has acquired the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane, the detection result of the surrounding situation sensor 11 indicating that the emergency vehicle EM (see FIG. 4) is traveling, and the information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane. The acquisition unit 3A uses a model obtained by performing learning using teacher data that is a dataset of the detection results of a surrounding situation sensor mounted on a learning vehicle (sensor data of the surrounding situation sensor mounted on the learning vehicle (for example, a camera image or the like)) and a label indicating whether or not the running of an emergency vehicle has been detected by the surrounding situation sensor mounted on the learning vehicle, and based on the detection results of the surrounding situation sensor 11 (sensor data of the surrounding situation sensor 11 (for example, a camera image or the like)), estimates whether or not the running of the emergency vehicle EM has been detected (for example, estimates whether or not the running emergency vehicle EM is included in the camera image), and has a function of acquiring information indicating whether or not the running of the emergency vehicle EM has been detected.

[0045] Specifically, in an example of the host vehicle 1 to which the driving support device 14 of the third embodiment is applied, before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling (specifically, before the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling), the surrounding situation sensor 11 detects the running of an emergency vehicle (specifically, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 indicating that the emergency vehicle EM is running), and when the HMI 13 has received an operation to blink the hazard lamp 15D (specifically, when the acquisition unit 3A has acquired information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D), the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0046] FIG. 6 is a flowchart for explaining an example of the processing executed by the processor 143 of the driving support device 14 according to the third embodiment. In the example shown in FIG. 6, in step S30, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 and a signal indicating the operation of the driver of the host vehicle 1 received by the HMI 13. In step S31, acquisition unit 3A estimates whether host vehicle 1 has deviated from the lane in which host vehicle 1 is traveling, based on the detection result of peripheral situation sensor 11 acquired in step S30. If acquisition unit 3A estimates that host vehicle 1 has deviated from the lane in which host vehicle 1 is traveling, the process proceeds to step S32. If acquisition unit 3A estimates that host vehicle 1 has not deviated from the lane in which host vehicle 1 is traveling, the process shown in FIG. 6 ends. In step S32, acquisition unit 3A estimates whether host vehicle 1 has deviated from the lane following a lead vehicle PV that has deviated from the lane, based on information indicating the travel trajectory of host vehicle 1, information indicating whether host vehicle 1 has deviated from the lane in which host vehicle 1 is traveling, information indicating the travel trajectory of lead vehicle PV, and information indicating whether lead vehicle PV has deviated from the lane in which lead vehicle PV is traveling. If acquisition unit 3A estimates that host vehicle 1 has deviated from the lane following a lead vehicle PV that has deviated from the lane, the process proceeds to step S33. If acquisition unit 3A estimates that host vehicle 1 has deviated from the lane without following a lead vehicle PV that has deviated from the lane, the process proceeds to step S35.

[0047] In step S33, determination unit 3B determines that the lane departure of host vehicle 1 is an intentional lane departure by the driver of host vehicle 1. In step S34, control unit 3C does not cause HMI 13 to output an alarm indicating that host vehicle 1 has deviated from the lane.

[0048] In step S35, for example, determination unit 3B determines whether HMI 13 has received an operation to blink hazard lamp 15D before host vehicle 1 deviates from the lane in which host vehicle 1 is traveling (specifically, before acquisition unit 3A estimates that host vehicle 1 has deviated from the lane in which host vehicle 1 is traveling) (specifically, whether acquisition unit 3A has acquired information indicating that HMI 13 has received an operation to blink hazard lamp 15D). If HMI 13 has received an operation to blink hazard lamp 15D before host vehicle 1 deviates from the lane in which host vehicle 1 is traveling, the process proceeds to step S36. If HMI 13 has not received an operation to blink hazard lamp 15D before host vehicle 1 deviates from the lane in which host vehicle 1 is traveling, the process proceeds to step S37. In step S36, for example, the determination unit 3B determines whether the running of the emergency vehicle EM has been detected by the surrounding situation sensor 11 before the host vehicle 1 deviates from the lane in which the host vehicle 1 is running (specifically, it is determined whether the acquisition unit 3A has estimated that the running of the emergency vehicle EM has been detected based on the detection result of the surrounding situation sensor 11). If the running of the emergency vehicle EM has been detected by the surrounding situation sensor 11 before the host vehicle 1 deviates from the lane in which the host vehicle 1 is running, the process proceeds to step S33. If the running of the emergency vehicle EM has not been detected by the surrounding situation sensor 11 before the host vehicle 1 deviates from the lane in which the host vehicle 1 is running, the process proceeds to step S37. In step S37, the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1. In step S38, the control unit 3C causes the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0049] <Fourth Embodiment> The host vehicle 1 to which the driving support device 14 of the fourth embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 14 of the second embodiment described above is applied, except as described later.

[0050] FIG. 7 is a diagram showing an example of the host vehicle 1 to which the driving support device 14 of the fourth embodiment is applied. In the example shown in FIG. 7, the host vehicle 1 includes a communication device 16 that receives emergency information (emergency bulletin) such as emergency information about an earthquake (earthquake early warning), emergency information about a tsunami (tsunami warning), and emergency information about a landslide disaster (landslide disaster emergency information). In the example shown in FIG. 7, when the acquisition unit 3A has acquired the detection result of the surrounding situation sensor 11 indicating that the host vehicle 1 has deviated from the lane, the communication result of the communication device 16 indicating that the emergency information has been received, and the information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0051] Specifically, in the example shown in FIG. 7, before the host vehicle 1 deviates from the lane in which the host vehicle 1 is traveling (specifically, before the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling), the communication device 16 receives emergency information (specifically, the acquisition unit 3A acquires the communication result of the communication device 16 indicating that the communication device 16 has received the emergency information), and when the HMI 13 has received an operation to blink the hazard lamp 15D (specifically, when the acquisition unit 3A has acquired information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D), the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1, and the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0052] FIG. 8 is a flowchart for explaining an example of the processing executed by the processor 143 of the driving support device 14 according to the fourth embodiment. In the example shown in FIG. 8, in step S40, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11, the communication result of the communication device 16, and a signal indicating the operation of the driver of the host vehicle 1 received by the HMI 13. In step S41, based on the detection result of the surrounding situation sensor 11 acquired in step S40, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the process proceeds to step S42. If the acquisition unit 3A estimates that the host vehicle 1 has not deviated from the lane in which the host vehicle 1 is traveling, the processing shown in FIG. 8 ends. In step S42, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane, based on the information indicating the traveling trajectory of the host vehicle 1, the information indicating whether or not the host vehicle 1 has deviated from the lane in which the host vehicle 1 is traveling, the information indicating the traveling trajectory of the preceding vehicle PV, and the information indicating whether or not the preceding vehicle PV has deviated from the lane in which the preceding vehicle PV is traveling. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane following a preceding vehicle PV that has deviated from the lane, the process proceeds to step S43. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane without following a preceding vehicle PV that has deviated from the lane, the process proceeds to step S45.

[0053] In step S43, the determination unit 3B determines that the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. In step S44, the control unit 3C does not cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0054] In step S45, for example, the determination unit 3B determines whether the HMI 13 has received an operation to blink the hazard lamp 15D before the host vehicle 1 departs from the lane in which it is traveling (specifically, before the acquisition unit 3A estimates that the host vehicle 1 has departed from the lane in which it is traveling) (specifically, whether the acquisition unit 3A has acquired information indicating that the HMI 13 has received an operation to blink the hazard lamp 15D). If the HMI 13 has received an operation to blink the hazard lamp 15D before the host vehicle 1 departs from the lane in which it is traveling, the process proceeds to step S46. If the HMI 13 has not received an operation to blink the hazard lamp 15D before the host vehicle 1 departs from the lane in which it is traveling, the process proceeds to step S47. In step S46, for example, the determination unit 3B determines whether the communication device 16 has received emergency information before the host vehicle 1 departs from the lane in which it is traveling (specifically, whether the acquisition unit 3A has acquired the communication result of the communication device 16 indicating that the communication device 16 has received emergency information). If the communication device 16 has received emergency information before the host vehicle 1 departs from the lane in which it is traveling, the process proceeds to step S43. If the acquisition unit 3A has not acquired the communication result of the communication device 16 indicating that the communication device 16 has received emergency information before the host vehicle 1 departs from the lane in which it is traveling, the process proceeds to step S47. In step S47, the determination unit 3B determines that the lane departure of the host vehicle 1 is not an intentional lane departure by the driver of the host vehicle 1. In step S48, the control unit 3C causes the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0055] As described above, the embodiments of the driving support device, driving support method, and program of the present disclosure have been described with reference to the drawings. However, the driving support device, driving support method, and program of the present disclosure are not limited to the above-described embodiments, and appropriate changes can be made without departing from the spirit of the present disclosure. The configurations of the examples of the above-described embodiments may be combined as appropriate. In each example of the above-described embodiments, the processing performed in the driving support device 14 has been described as software processing performed by executing a program. However, the processing performed in the driving support device 14 may be processing performed by hardware. Alternatively, the processing performed in the driving support device 14 may be processing that combines both software and hardware. Further, a program (a program that realizes the functions of the processor 143 of the driving support device 14) stored in the memory 142 of the driving support device 14 may be recorded, provided, distributed, etc. on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc.

Explanation of Reference Numerals

[0056] 1... own vehicle, 11... surrounding situation sensor, 12... vehicle state sensor, 13... HMI, 14... driving support device, 141... communication interface, 142... memory, 143... processor, 3A... acquisition unit, 3B... determination unit, 3C... control unit, 15A... steering actuator, 15B... braking actuator, 15C... driving actuator, 15D... hazard lamp, 15E... turn signal, 16... communication device

Claims

1. An acquisition unit that acquires the detection result of a surrounding situation sensor that detects the surrounding situation of the host vehicle; A determination unit that determines whether or not the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle based on the detection result acquired by the acquisition unit; When the acquisition unit acquires the detection result indicating that the host vehicle has followed a preceding vehicle that has deviated from the lane and deviated from the lane, the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle. A driving support device.

2. When the acquisition unit acquires the detection result indicating that the host vehicle has deviated from the lane and information indicating that the HMI has received an operation to blink the hazard lamp, the determination unit determines that the lane departure of the host vehicle is the host vehicle. The driving support device according to claim 1, which is an intentional lane departure by the driver of the vehicle.

3. When the HMI receives an operation to blink the hazard lamp before the host vehicle deviates from the lane, the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle. The driving support device according to claim 2.

4. When the surrounding situation sensor detects the running of an emergency vehicle before the host vehicle deviates from the lane and the HMI receives an operation to blink the hazard lamp, the determination unit determines that the lane departure of the host vehicle is the host vehicle. The driving support device according to claim 3, which is an intentional lane departure by the driver of the vehicle.

5. When the host vehicle receives emergency information before deviating from the lane and the HMI receives an operation to blink the hazard lamp, the determination unit determines that the lane departure of the host vehicle is the host vehicle. The driving support device according to claim 3, which is an intentional lane departure by the driver of the vehicle.

6. The driving support device according to claim 1, further comprising a control unit that performs driving support for lane change of the host vehicle when the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

7. The control unit according to claim 6 performs control to automatically turn on the turn signal without the need for an operation by the driver of the host vehicle. The driving support device according to claim 6.

8. The control unit according to claim 6 performs control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane. The driving support device according to claim 6.

9. The driving support device according to claim 1, comprising a control unit that executes control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane when the determination unit determines that the lane deviation of the host vehicle is not an intentional lane deviation by the driver of the host vehicle.

10. An acquisition step in which a driving support device acquires a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle; The driving support device includes a determination step of determining, based on the detection result acquired in the acquisition step, whether or not the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle. A driving support method in which, when the detection result indicating that the host vehicle has deviated from the lane following a preceding vehicle that has deviated from the lane is acquired in the acquisition step, in the determination step, it is determined that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle.

11. A program for causing a processor to execute an acquisition step of acquiring a detection result of a surrounding situation sensor that detects a surrounding situation of the host vehicle; and a determination step of determining, based on the detection result acquired in the acquisition step, whether or not the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle, wherein, when the detection result indicating that the host vehicle has deviated from the lane following a preceding vehicle that has deviated from the lane is acquired in the acquisition step, in the determination step, it is determined that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle.

Images