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 17 comprises: an acquisition section 3A which acquires information indicating that an own vehicle 1 has deviated from a traffic lane, information indicating the traffic lane in which the own vehicle 1 is traveling and information indicating a recommended traffic lane by a navigation device 16 during route guidance; and a determination section 3B which determines whether a deviation of the own vehicle 1 from the traffic lane is intentional by a driver of the own vehicle 1 when the acquisition section 3A acquires the information indicating that the own vehicle 1 has deviated from the traffic lane. When a traffic lane in which the own vehicle 1 is traveling indicated by the information acquired by the acquisition section 3A differs from the recommended traffic lane indicated by the information acquired by the acquisition section 3A, 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 giving 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.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the technique described in Patent Document 1, for example, when the lane in which the host vehicle is traveling is different from the recommended lane recommended by the navigation device when the route guidance is being executed, if the driver of the host vehicle changes the lane of the host vehicle from the lane in which the host vehicle is traveling to the recommended lane without turning on the turn signal, there is a risk that it may be determined that the lane departure is unintentional by the driver. When the driver of the host vehicle changes the lane of the host vehicle from the lane in which the host vehicle is traveling to the recommended lane without turning on the turn signal, it is desired to have a technique that determines that it is an intentional lane departure by the driver of the host vehicle and performs appropriate driving support.

[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 is intentional by the driver of the host vehicle.

Means for Solving the Problems

[0006] (1) One aspect of the present disclosure is an acquisition unit that acquires information indicating that the host vehicle has deviated from its lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device when performing route guidance, and when the acquisition unit acquires information indicating that the host vehicle has deviated from its lane, a determination unit that determines whether the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle. When the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is different from the recommended lane indicated by the information acquired by the acquisition unit, the determination unit determines that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle. It is a driving support device.

[0007] (2) In the driving support device according to (1), when the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is a right-turn lane or a left-turn lane, and the recommended lane indicated by the information acquired by the acquisition unit is a straight-ahead lane, the determination unit may determine that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle.

[0008] (3) In the driving support device according to (1), when the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is a straight-ahead lane, and the recommended lane indicated by the information acquired by the acquisition unit is a right-turn lane or a left-turn lane, the determination unit may determine that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle.

[0009] (4) In the driving support device according to (1), when the direction of the branch lane of the junction in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is different from the direction of the recommended lane indicated by the information acquired by the acquisition unit, the determination unit may determine that the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle.

[0010] (5) If 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 of (1) may include a control unit that performs driving support for changing lanes of the host vehicle.

[0011] (6) In the driving support device of (5), the control unit may execute control to automatically turn on the turn signal without any operation by the driver of the host vehicle.

[0012] (7) In the driving support device of (5), the control unit may execute control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane.

[0013] (8) In the driving support device of (1), when the direction of the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is opposite to the direction of the recommended lane indicated by the information acquired by the acquisition unit, 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.

[0014] (9) If 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 of (8) may include a control unit that performs steering support to suppress the lane departure of the host vehicle.

[0015] (10) In the driving support device of (9), 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, the control unit may execute control to cause the HMI to output an alarm indicating that the host vehicle has deviated from the lane.

[0016] (11) One aspect of the present disclosure provides an operation support method including: an acquisition step in which an operation support device acquires information indicating that the host vehicle has deviated from its lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device during route guidance execution; and a determination step in which, when the information indicating that the host vehicle has deviated from its lane is acquired in the acquisition step, the operation support device determines whether the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle. When the lane in which the host vehicle is traveling indicated by the information acquired in the acquisition step is different from the recommended lane indicated by the information 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.

[0017] (12) One aspect of the present disclosure provides a program for causing a processor to execute: an acquisition step of acquiring information indicating that the host vehicle has deviated from its lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device during route guidance execution; and a determination step of determining whether the lane deviation of the host vehicle is an intentional lane deviation by the driver of the host vehicle when the information indicating that the host vehicle has deviated from its lane is acquired in the acquisition step. When the lane in which the host vehicle is traveling indicated by the information acquired in the acquisition step is different from the recommended lane indicated by the information 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.

Advantages of the Invention

[0018] According to the present disclosure, it is possible to appropriately determine whether the lane deviation is an intentional lane deviation by the driver of the host vehicle.

Brief Description of the Drawings

[0019]

Figure 1

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Figure 11

BEST MODE FOR CARRYING OUT THE INVENTION

[0020] Hereinafter, embodiments of the driving support device, driving support method, and program of the present disclosure will be described with reference to the drawings.

[0021] <First Embodiment> FIG. 1 is a diagram showing an example of a host vehicle 1 to which a driving support device 17 according to 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 position information acquisition device 14, a map information acquisition device 15, a navigation device 16, a driving support device 17, a steering actuator 18A, a braking actuator 18B, a driving actuator 18C, and a turn signal 18D. The surrounding situation sensor 11 detects the surrounding situation of the host vehicle 1 (for example, the lane lines defining the lane TL (see FIG. 2) in which the host vehicle 1 is traveling, surrounding vehicles existing around the host vehicle 1, structures existing around the host vehicle 1, etc.), and transmits the detection result to the driving support device 17. 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 17. 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 17 (transmits information indicating that the operation of the driver of the host vehicle 1 has been received to the driving support device 17).

[0022] The position information acquisition device 14 acquires information indicating the position of the host vehicle 1. The position information acquisition device 14 includes, for example, a GPS (Global Positioning System) device that measures the position of the host vehicle 1. The position information acquisition device 14 may perform well-known self-position estimation processing (localization) to improve the accuracy of the information indicating the position of the host vehicle 1. The position information acquisition device 14 transmits the information indicating the position of the host vehicle 1 to the navigation device 16, the driving support device 17, and the like. The map information acquisition device 15 acquires map information from a map database and transmits the map information to the navigation device 16, the driving support device 17, and the like. The map database may be stored in a storage device (not shown) mounted on the host vehicle 1, or may be stored in a management server external to the host vehicle 1. In an example where the map database is stored in a management server external to the host vehicle 1, the map information acquisition device 15 acquires the map information from the map database via communication between the host vehicle 1 and the management server.

[0023] In the example shown in FIG. 1, the navigation device 16 guides the driver of the host vehicle 1 to the destination set via the HMI 13. The navigation device 16 calculates a target route TR (see FIG. 2) to the destination based on the position information of the host vehicle 1 acquired by the position information acquisition device 14 and the map information acquired by the map information acquisition device 15, and presents navigation information regarding the target route TR to the driver of the host vehicle 1 via the HMI 13. In addition, the navigation device 16 has a function of determining a recommended lane RL (see FIG. 2) to be recommended during route guidance execution. The recommended lane RL is a lane among a plurality of lanes included in the road RD1 (see FIG. 2) on which the host vehicle 1 is traveling, and is a lane in which it is preferable for the host vehicle 1 to travel along the target route TR to the destination during route guidance execution.

[0024] The driving support device 17 is constituted by, for example, a driving support ECU (Electronic Control Unit) or the like. The driving support device 17 is constituted by a microcomputer including a communication interface (I / F) 171, a memory 172, and a processor 173. The communication interface 171 has an interface circuit for connecting the driving support device 17 to the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the position information acquisition device 14, the map information acquisition device 15, the navigation device 16, the steering actuator 18A, the braking actuator 18B, the driving actuator 18C, and the blinker 18D. The memory 172 stores programs and various data used in the processes executed by the processor 173. The processor 173 has functions as an acquisition unit 3A, a determination unit 3B, and a control unit 3C.

[0025] The acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 (for example, an image of the front of the host vehicle 1 taken by a camera, a detection result of LiDAR, etc.), and estimates the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11. That is, the acquisition unit 3A acquires information (detection result of the surrounding situation sensor 11) indicating the lane TL in which the host vehicle 1 is traveling. In addition, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11, and estimates whether or not the host vehicle 1 has deviated from the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11. That is, when the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane TL in which the host vehicle 1 is traveling, the acquisition unit 3A acquires information (detection result of the surrounding situation sensor 11) indicating that the host vehicle 1 has deviated from the lane. Furthermore, the acquisition unit 3A acquires information indicating the target route TR to the destination calculated by the navigation device 16. Specifically, the acquisition unit 3A acquires information indicating the recommended lane RL recommended by the navigation device 16 during route guidance execution.

[0026] FIG. 2 is a diagram for explaining a first example such as the lane TL in which the host vehicle 1 is traveling and the recommended lane RL recommended by the navigation device 16 during route guidance execution. In the example shown in FIG. 2, the lane TL in which the host vehicle 1 is traveling is a right-turn lane, while the recommended lane RL recommended by the navigation device 16 during route guidance execution is a straight-ahead lane, and the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. Therefore, there is a possibility that the driver of the host vehicle 1, who notices that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL, will change the lane of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL (departure of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling). When the driver of the host vehicle 1 changes the lane of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL without the turn signal 18D being turned on, if a warning indicating that the host vehicle 1 has deviated from the lane is simply output, or if steering assistance for suppressing the lane departure of the host vehicle 1 is performed, it can be said that no appropriate driving assistance is being provided because no driving assistance for the host vehicle 1 to reach the destination set by the driver of the host vehicle 1 is being performed at all. Therefore, in the example shown in FIG. 1, the following countermeasures are taken in order to provide appropriate driving assistance.

[0027] Specifically, in the example shown in FIG. 1, when the acquisition unit 3A acquires information (detection result of the surrounding situation sensor 11) indicating that the host vehicle 1 has deviated from the lane, the determination unit 3B determines whether the lane departure of the host vehicle 1 is an intentional lane departure by the driver of the host vehicle 1. As in the example shown in FIG. 2, when the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is different from the recommended lane RL indicated by the information acquired by the acquisition unit 3A, 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. Specifically, as in the example shown in FIG. 2, when the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is a right-turn lane and the recommended lane RL indicated by the information acquired by the acquisition unit 3A is a straight-ahead lane, the determination unit 3B determines that the lane departure of the host vehicle 1 (lane change of the host vehicle 1 from the right-turn lane to the straight-ahead lane) is an intentional lane departure by the driver of the host vehicle 1.

[0028] In the example shown in FIG. 1, the control unit 3C controls the steering actuator 18A, the braking actuator 18B, the driving actuator 18C, and the blinker 18D based on the information (data, signals) transmitted from, for example, the surrounding situation sensor 11, the vehicle state sensor 12, the HMI 13, the position information acquisition device 14, the map information acquisition device 15, and the navigation device 16. Specifically, in the example shown in FIG. 1, 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, the control unit 3C performs driving support for changing the lane of the host vehicle 1. Specifically, the control unit 3C executes control to automatically turn on the blinker 18D without the need for an operation by the driver of the host vehicle 1. As in the example shown in FIG. 2, when an intentional lane departure by the driver of the host vehicle 1 (a lane change of the host vehicle 1 from the right-turn lane to the straight-ahead lane) is performed, the control unit 3C executes control to automatically turn on the blinker 18D indicating a lane change of the host vehicle 1 to the left-side lane (straight-ahead lane) of the host vehicle 1 without the need for an operation by the driver of the host vehicle 1. Therefore, in the example shown in FIG. 2, even if the driver of the host vehicle 1 is slow to notice that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL, and there is no margin to perform an operation to turn on the blinker 18D indicating a lane change of the host vehicle 1 to the left-side lane (straight-ahead lane) of the host vehicle 1, a safe lane change of the host vehicle 1 from the right-turn lane to the straight-ahead lane can be realized.

[0029] FIG. 3 is a diagram for explaining a second example such as the lane TL in which the host vehicle 1 is traveling and the recommended lane RL recommended by the navigation device 16 during route guidance execution. In the example shown in FIG. 3, the road RD2 in which the host vehicle 1 is traveling includes a plurality of lanes. The lane TL in which the host vehicle 1 is traveling is a left-turn lane, while the recommended lane RL recommended by the navigation device 16 during route guidance execution is a straight-ahead lane, and the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. Therefore, there is a possibility that the driver of the host vehicle 1 who notices that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL may perform a lane change of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL (a lane departure of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling).

[0030] As shown in the example of FIG. 3, when the lane TL in which the host vehicle 1 is traveling, indicated by the information acquired by the acquisition unit 3A, is different from the recommended lane RL indicated by the information acquired by the acquisition unit 3A, 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. Specifically, as shown in the example of FIG. 3, when the lane TL in which the host vehicle 1 is traveling, indicated by the information acquired by the acquisition unit 3A, is a left-turn lane and the recommended lane RL indicated by the information acquired by the acquisition unit 3A is a straight-ahead lane, the determination unit 3B determines that the lane departure of the host vehicle 1 (lane change of the host vehicle 1 from the left-turn lane to the straight-ahead lane) is an intentional lane departure by the driver of the host vehicle 1. As shown in the example of FIG. 3, when an intentional lane departure by the driver of the host vehicle 1 (lane change of the host vehicle 1 from the left-turn lane to the straight-ahead lane) is performed, the control unit 3C executes control to automatically turn on the blinker 18D indicating a lane change of the host vehicle 1 to the lane on the right side (straight-ahead lane) of the host vehicle 1 without the need for an operation by the driver of the host vehicle 1. Therefore, in the example shown in FIG. 3, even if the driver of the host vehicle 1 is late in noticing that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL and there is no margin to perform an operation of turning on the blinker 18D indicating a lane change of the host vehicle 1 to the lane on the right side (straight-ahead lane) of the host vehicle 1, a safe lane change of the host vehicle 1 from the left-turn lane to the straight-ahead lane can be realized.

[0031] FIG. 4 is a diagram for explaining a third example such as the lane TL in which the host vehicle 1 is traveling and the recommended lane RL recommended by the navigation device 16 during route guidance execution. In the example shown in FIG. 4, the road RD3 on which the host vehicle 1 is traveling includes a plurality of lanes. The lane TL in which the host vehicle 1 is traveling is a straight-ahead lane, while the recommended lane RL recommended by the navigation device 16 during route guidance execution is a right-turn lane, and the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. Therefore, the driver of the host vehicle 1 who notices that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL may change the lane of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL (departure of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling).

[0032] As in the example shown in FIG. 4, when the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is different from the recommended lane RL indicated by the information acquired by the acquisition unit 3A, 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. Specifically, as in the example shown in FIG. 4, when the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is a straight-ahead lane and the recommended lane RL indicated by the information acquired by the acquisition unit 3A is a right-turn lane, the determination unit 3B determines that the lane departure of the host vehicle 1 (lane change of the host vehicle 1 from the straight-ahead lane to the right-turn lane) is an intentional lane departure by the driver of the host vehicle 1. As in the example shown in FIG. 4, when an intentional lane departure by the driver of the host vehicle 1 (lane change of the host vehicle 1 from the straight-ahead lane to the right-turn lane) is performed, the control unit 3C executes control to automatically turn on the blinker 18D indicating a lane change of the host vehicle 1 to the right lane (right-turn lane) of the host vehicle 1 without the need for an operation by the driver of the host vehicle 1. Therefore, in the example shown in FIG. 4, even if the driver of the host vehicle 1 is late in noticing that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL and there is no margin to perform an operation of turning on the blinker 18D indicating a lane change of the host vehicle 1 to the right lane (right-turn lane) of the host vehicle 1, a safe lane change of the host vehicle 1 from the straight-ahead lane to the right-turn lane can be realized.

[0033] FIG. 5 is a diagram for explaining a fourth example such as a lane TL in which the host vehicle 1 is traveling and a recommended lane RL recommended by the navigation device 16 during route guidance execution. In the example shown in FIG. 5, the road RD4 on which the host vehicle 1 is traveling includes a plurality of lanes. The lane TL in which the host vehicle 1 is traveling is a straight-ahead lane, whereas the recommended lane RL recommended by the navigation device 16 during route guidance execution is a left-turn lane, and the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. Therefore, there is a possibility that the driver of the host vehicle 1 who notices that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL may change the lane of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL (departure of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling).

[0034] When the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is different from the recommended lane RL indicated by the information acquired by the acquisition unit 3A, as in the example shown in FIG. 5, 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. Specifically, as in the example shown in FIG. 5, when the lane TL in which the host vehicle 1 is traveling indicated by the information acquired by the acquisition unit 3A is a straight-ahead lane and the recommended lane RL indicated by the information acquired by the acquisition unit 3A is a left-turn lane, the determination unit 3B determines that the lane departure of the host vehicle 1 (lane change of the host vehicle 1 from the straight-ahead lane to the left-turn lane) is an intentional lane departure by the driver of the host vehicle 1. When an intentional lane departure (lane change of the host vehicle 1 from the straight-ahead lane to the left-turn lane) by the driver of the host vehicle 1 is performed, as in the example shown in FIG. 5, the control unit 3C executes control to automatically turn on the blinker 18D indicating a lane change of the host vehicle 1 to the left lane (left-turn lane) of the host vehicle 1 without the need for an operation by the driver of the host vehicle 1. Therefore, in the example shown in FIG. 5, even if the driver of the host vehicle 1 is late in noticing that the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL and there is no margin to perform an operation to turn on the blinker 18D indicating a lane change of the host vehicle 1 to the left lane (left-turn lane) of the host vehicle 1, a safe lane change of the host vehicle 1 from the straight-ahead lane to the left-turn lane can be realized.

[0035] Figure 6 is a flowchart for explaining an example of the processing executed by the processor 173 of the driving support device 17 of the first embodiment when the navigation device 16 executes route guidance. In the example shown in Figure 6, in step S10, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 and the information indicating the recommended lane RL recommended by the navigation device 16. Specifically, in step S10, the acquisition unit 3A estimates the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11. In step S11, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11 acquired in step S10. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane TL 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 TL in which the host vehicle 1 is traveling, the process shown in Figure 6 ends. In step S12, for example, the determination unit 3B determines whether or not the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. If YES, the process proceeds to step S13. If NO, the process proceeds to step S15.

[0036] 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 automatically turns on the blinker 18D without outputting an alarm indicating that the host vehicle 1 has deviated from the lane to the HMI 13.

[0037] 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 outputs an alarm indicating that the host vehicle 1 has deviated from the lane to the HMI 13.

[0038] <Second Embodiment> The host vehicle 1 to which the driving support device 17 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 17 of the first embodiment described above is applied, except for the points described later.

[0039] FIG. 7 is a flowchart for explaining an example of processing executed by the processor 173 of the driving support device 17 of the second embodiment when the navigation device 16 executes route guidance. In the example shown in FIG. 7, in step S20, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 and information indicating the recommended lane RL recommended by the navigation device 16. Specifically, in step S20, the acquisition unit 3A estimates the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11. In step S21, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11 acquired in step S20. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane TL 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 TL in which the host vehicle 1 is traveling, the process shown in FIG. 7 ends. In step S22, for example, the determination unit 3B determines whether or not the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. If YES, the process proceeds to step S23. If NO, the process proceeds to step S26.

[0040] 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 causes the HMI 13 to output an alarm prompting the driver of the host vehicle 1 to turn on the blinker 18D. In step S25, for example, the determination unit 3B determines whether the HMI 13 has received an operation by the driver of the host vehicle 1 to turn on the blinker 18D. Specifically, the determination unit 3B determines whether the acquisition unit 3A has acquired from the HMI 13 a signal indicating an operation by the driver of the host vehicle 1 to turn on the blinker 18D. If YES, the process shown in FIG. 7 is terminated, and if NO, the process proceeds to step S27.

[0041] 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. Then, the process proceeds to step S27. In step S27, the control unit 3C performs steering assistance to suppress the lane departure of the host vehicle 1. Specifically, the control unit 3C operates the steering actuator 18A without the need for an input operation by the driver of the host vehicle 1 to suppress the lane departure of the host vehicle 1.

[0042] <Third Embodiment> The host vehicle 1 to which the driving support device 17 of the third embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 17 of the first embodiment described above is applied, except as described below.

[0043] As described above, in the host vehicle 1 to which the driving support device 17 of the first embodiment is applied, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 (for example, an image of the front of the host vehicle 1 taken by a camera, a detection result of LiDAR, etc.), and estimates the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11. On the other hand, in the host vehicle 1 to which the driving support device 17 of the third embodiment is applied, the acquisition unit 3A acquires information indicating the position of the host vehicle 1 acquired by the position information acquisition device 14 and map information acquired from the map database by the map information acquisition device 15, and estimates the lane TL in which the host vehicle 1 is traveling based on the information indicating the position of the host vehicle 1 and the map information.

[0044] <Fourth Embodiment> The host vehicle 1 to which the driving support device 17 of the fourth embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 17 of the first embodiment described above, except for the points described later.

[0045] In an example of the host vehicle 1 to which the driving support device 17 of the fourth embodiment is applied, the surrounding situation sensor 11 detects the direction in which the lane TL on which the host vehicle 1 is traveling extends, and transmits the detection result to the driving support device 17. The acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 (information indicating the direction in which the lane TL on which the host vehicle 1 is traveling extends). The navigation device 16 calculates the direction in which the recommended lane RL extends based on the map information acquired by the map information acquisition device 15, and transmits the calculation result to the driving support device 17. The acquisition unit 3A acquires the calculation result of the navigation device 16 (information indicating the direction in which the recommended lane RL extends).

[0046] FIG. 8 is a diagram for explaining an example of the direction in which the lane TL on which the host vehicle 1 is traveling extends and the direction in which the recommended lane RL extends. In the example shown in FIG. 8, the host vehicle 1 is traveling on a branch lane of a junction. That is, the lane TL on which the host vehicle 1 is traveling is a branch lane of the junction. The branch lane of the junction (the lane TL on which the host vehicle 1 is traveling) extends in the upper right direction of FIG. 8. On the other hand, the recommended lane RL extends in the right direction of FIG. 8. In an example of the host vehicle 1 to which the driving support device 17 of the fourth embodiment is applied, when the direction of the branch lane of the junction (the lane TL on which the host vehicle 1 is traveling) on which the host vehicle 1 is traveling is different from the direction of the recommended lane RL as in the example shown in FIG. 8, the determination unit 3B determines that the lane departure of the host vehicle 1 (the lane change of the host vehicle 1 from the lane TL on which the host vehicle 1 is traveling to the recommended lane RL) is an intentional lane departure by the driver of the host vehicle 1.

[0047] FIG. 9 is a flowchart for explaining an example of the process executed by the processor 173 of the driving support device 17 of the fourth embodiment when the navigation device 16 executes route guidance. In the example shown in FIG. 9, in step S30, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 (information indicating the direction in which the lane TL (branch lane) in which the host vehicle 1 is traveling extends, etc.) and the information indicating the recommended lane RL recommended by the navigation device 16 (information indicating the direction in which the recommended lane RL extends, etc.). In step S31, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane TL (branch lane) in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11 acquired in step S30. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane TL (branch lane) in which the host vehicle 1 is traveling, the process proceeds to step S32. If the acquisition unit 3A estimates that the host vehicle 1 has not deviated from the lane TL (branch lane) in which the host vehicle 1 is traveling, the process shown in FIG. 9 ends. In step S32, for example, the determination unit 3B determines whether or not the lane TL (branch lane) in which the host vehicle 1 is traveling is different from the recommended lane RL. If YES, the process proceeds to step S33. If NO, the process proceeds to step S36. In step S33, for example, the determination unit 3B determines whether or not the direction of the lane TL (branch lane) in which the host vehicle 1 is traveling is different from the direction of the recommended lane RL. If YES (if the direction of the lane TL (branch lane) in which the host vehicle 1 is traveling is different from the direction of the recommended lane RL as in the example shown in FIG. 8), the process proceeds to step S34. If NO, the process proceeds to step S36.

[0048] In step S34, 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 S35, the control unit 3C automatically turns on the turn signal 18D without outputting an alarm indicating that the host vehicle 1 has departed from the lane to the HMI 13.

[0049] In step S36, 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 S37, the control unit 3C outputs an alarm indicating that the host vehicle 1 has departed from the lane to the HMI 13.

[0050] <Fifth Embodiment> The host vehicle 1 to which the driving support device 17 of the fifth embodiment is applied is configured in the same manner as the host vehicle 1 to which the driving support device 17 of the first embodiment described above is applied, except for the points described later.

[0051] FIG. 10 is a diagram for explaining a fifth example such as a lane TL in which the host vehicle 1 is traveling and a recommended lane RL recommended by the navigation device 16 during route guidance execution. In the example shown in FIG. 10, the direction of the lane TL in which the host vehicle 1 is traveling (the upward direction in FIG. 10) and the direction of the recommended lane RL recommended by the navigation device 16 during route guidance execution (the downward direction in FIG. 10) are opposite. That is, the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. Therefore, there is a possibility that the driver of the host vehicle 1 who notices that the direction of the lane TL in which the host vehicle 1 is traveling is opposite to the direction of the recommended lane RL may make a U-turn of the host vehicle 1 (that is, change the lane of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL (in other words, deviate from the lane TL in which the host vehicle 1 is traveling)). When the driver of the host vehicle 1 makes a U-turn (lane change) of the host vehicle 1 from the lane TL in which the host vehicle 1 is traveling to the recommended lane RL without the turn signal 18D being lit, if a warning indicating that the host vehicle 1 has deviated from the lane is simply output, or if steering assistance for suppressing the lane departure (U-turn) of the host vehicle 1 is performed, it can be said that no appropriate driving support is being provided because no driving support for the host vehicle 1 to reach the destination set by the driver of the host vehicle 1 is being performed. Therefore, in an example of the host vehicle 1 to which the driving support device 17 of the fifth embodiment is applied, the following countermeasures are taken in order to provide appropriate driving support.

[0052] FIG. 11 is a flowchart for explaining an example of the processing executed by the processor 173 of the driving support device 17 of the fifth embodiment during route guidance execution by the navigation device 16. In the example shown in FIG. 11, in step S40, the acquisition unit 3A acquires the detection result of the surrounding situation sensor 11 (such as the direction of the lane TL in which the host vehicle 1 is traveling) and the information indicating the recommended lane RL recommended by the navigation device 16 (such as the information indicating the direction of the recommended lane RL). In step S41, the acquisition unit 3A estimates whether or not the host vehicle 1 has deviated from the lane TL in which the host vehicle 1 is traveling based on the detection result of the surrounding situation sensor 11 acquired in step S40. If the acquisition unit 3A estimates that the host vehicle 1 has deviated from the lane TL 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 TL in which the host vehicle 1 is traveling, the process shown in FIG. 11 ends. In step S42, for example, the determination unit 3B determines whether or not the lane TL in which the host vehicle 1 is traveling is different from the recommended lane RL. If YES, the process proceeds to step S43. If NO, the process proceeds to step S46. In step S43, for example, the determination unit 3B determines whether or not the direction of the lane TL in which the host vehicle 1 is traveling is opposite to the direction of the recommended lane RL. If YES (when the direction of the lane TL in which the host vehicle 1 is traveling is opposite to the direction of the recommended lane RL as in the example shown in FIG. 10), the process proceeds to step S44. If NO, the process proceeds to step S46.

[0053] In step S44, 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 S45, the control unit 3C automatically turns on the turn signal 18D without outputting an alarm indicating that the host vehicle 1 has departed from the lane to the HMI 13.

[0054] In step S46, 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 S47, the control unit 3C outputs an alarm indicating that the host vehicle 1 has departed from the lane to the HMI 13.

[0055] In another example, in step S45, the control unit 3C may perform steering assistance to suppress the lane departure of the host vehicle 1.

[0056] In yet another example, in step S45, the control unit 3C may perform steering assistance to suppress the lane departure of the host vehicle 1 and cause the HMI 13 to output an alarm indicating that the host vehicle 1 has deviated from the lane.

[0057] As described above, 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 can be appropriately modified without departing from the spirit of the present disclosure. The configurations of the respective 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 17 has been described as software processing performed by executing a program. However, the processing performed in the driving support device 17 may be processing performed by hardware. Alternatively, the processing performed in the driving support device 17 may be processing that combines both software and hardware. Further, a program (a program that realizes the functions of the processor 173 of the driving support device 17) stored in the memory 172 of the driving support device 17 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

[0058] 1... host vehicle, 11... surrounding situation sensor, 12... vehicle state sensor, 13... HMI, 14... position information acquisition device, 15... map information acquisition device, 16... navigation device, 17... driving support device, 171... communication interface, 172... memory, 173... processor, 3A... acquisition unit, 3B... determination unit, 3C... control unit, 18A... steering actuator, 18B... braking actuator, 18C... driving actuator, 18D... blinker

Claims

1. An acquisition unit that acquires information indicating that the host vehicle has deviated from its lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device during route guidance execution; A determination unit that determines whether the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle when the acquisition unit acquires information indicating that the host vehicle has deviated from its lane; A driving support device, wherein when the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is different from the recommended lane indicated by the information acquired by the acquisition unit, the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

2. The driving support device according to claim 1, wherein when the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is a right-turn lane or a left-turn lane, and the recommended lane indicated by the information acquired by the acquisition unit is a straight-ahead 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.

3. The driving support device according to claim 1, wherein when the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is a straight-ahead lane, and the recommended lane indicated by the information acquired by the acquisition unit is a right-turn lane or a left-turn 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.

4. The driving support device according to claim 1, wherein when the direction of the branch lane of the junction in which the host vehicle is traveling indicated by the information acquired by the acquisition unit is different from the direction of the recommended lane indicated by the information acquired by the acquisition unit, the determination unit determines that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

5. 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.

6. The driving support device according to claim 5, wherein the control unit executes control to automatically turn on the turn signal without an operation by the driver of the host vehicle.

7. The driving support device according to claim 5, wherein the control unit executes control to output an alarm indicating that the host vehicle has deviated from its lane to the HMI.

8. When the direction of the lane in which the host vehicle is traveling indicated by the information acquired by the acquisition unit and the direction of the recommended lane indicated by the information acquired by the acquisition unit are opposite, 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 1.

9. 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, a control unit that performs steering assistance to suppress the lane departure of the host vehicle is provided. The driving support device according to claim 8.

10. 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, the control unit executes control to cause the HMI to output an alarm indicating that the host vehicle has departed from the lane. The driving support device according to claim 9.

11. An acquisition step in which a driving support device acquires information indicating that the host vehicle has departed from the lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device during route guidance execution; A determination step in which, when the driving support device acquires information indicating that the host vehicle has departed from the lane in the acquisition step, the driving support device determines whether the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle. When the lane in which the host vehicle is traveling indicated by the information acquired in the acquisition step is different from the recommended lane indicated by the information 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. Driving support method.

12. To the processor, An acquisition step in which information indicating that the host vehicle has departed from the lane, information indicating the lane in which the host vehicle is traveling, and information indicating a recommended lane recommended by a navigation device during route guidance execution are acquired; A program for causing the processor to execute a determination step of determining whether the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle when information indicating that the host vehicle has departed from the lane is acquired in the acquisition step. A program that, when the lane in which the host vehicle is traveling indicated by the information acquired in the acquisition step is different from the recommended lane indicated by the information acquired in the acquisition step, determines in the determination step that the lane departure of the host vehicle is an intentional lane departure by the driver of the host vehicle.

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