Driving assistance apparatus

Abstract

To improve convenience for a driver.SOLUTION: A driving assistance apparatus 10 has a pair of right and left laser light emitters 14. Also, a surroundings detector 34 of a controller 30 detects a lane line and ruts that define a traffic lane on which a vehicle V travels based on the data imaged by a stereo camera 12. Then, in the controller 30, when the controller cannot detect the lane line and detects the ruts, a laser light emission controller 38 of the controller 30 operates the laser light emitter 14 to emit laser light LL toward the ruts. As a result, even if the controller cannot provide driving assistance based on the lane line, the controller can provide driving assistance using an imaginary lane line as a mark by forming the imaginary lane line based on the ruts using the laser light LL. Accordingly, convenience for a driver can be improved.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device. [Background technology]

[0002] Some driving assistance devices for vehicles (automobiles) have a function to prevent the vehicle from deviating from its lane (see, for example, Patent Document 1 below). In this driving assistance device, a control unit detects lane markings that separate the vehicle's lane from an image captured by an imaging device such as a camera. When the control unit predicts that the vehicle will deviate from the lane markings based on the detected lane markings, it applies an operating torque to the steering mechanism to prevent the vehicle from deviating from its lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2013-91494 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-described driving assistance device has room for improvement in the following respects: For example, if the control unit cannot detect lane markings due to snow accumulation on the road, the lane departure prevention function of the driving assistance device will not operate. In this case, driving assistance will not be provided, which may reduce convenience for the driver.

[0005] In consideration of the above, an object of the present invention is to provide a driving assistance device that can improve convenience for the driver. [Means for solving the problem]

[0006] One or more embodiments of the present invention are a driving assistance device that includes an imaging unit that images the area in front of the vehicle, a pair of left and right laser light emitting units in the vehicle width direction that, when activated, emit laser light from the vehicle onto the road surface in front of the vehicle, and a control unit that detects marking lines and ruts that define the lane in which the vehicle is traveling based on the image captured by the imaging units and activates the laser light emitting units, and when the control unit is unable to detect the marking lines but detects the ruts, the control unit activates the laser light emitting units to emit the laser light toward the ruts. [Effects of the Invention]

[0007] According to one or more embodiments of the present invention, convenience for the driver can be improved. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a plan view seen from above a vehicle to which a driving assistance device according to an embodiment of the present invention is applied. [Figure 2] 1 is a block diagram of a driving assistance device according to an embodiment of the present invention; [Figure 3] 2 is a plan view showing an example of laser light irradiated onto a road surface from the laser light irradiating device shown in FIG. 1. FIG. [Figure 4] 1. FIG. 4 is a plan view showing another example of laser light irradiated onto a road surface from the laser light irradiating device shown in FIG. [Figure 5] 4 is a flowchart for explaining the operation of the driving assistance device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a vehicle (automobile) V to which a driving assistance device 10 according to this embodiment is applied will be described with reference to the drawings. Note that the arrow FR shown in Fig. 1 indicates the front side of the vehicle V, and the arrow RH indicates the right side of the vehicle (one side in the vehicle width direction) when viewed from above the vehicle.

[0010] 1 and 2, the driving assistance device 10 includes a stereo camera 12 as an imaging unit, a pair of left and right laser light emitting devices 14 as laser light emitting units, a vehicle speed sensor 16, a steering angle sensor 18, a GPS receiver 20, a storage unit 22, a speaker 24 as a notification unit, an operation switch 26, and a control unit 30. Each component of the driving assistance device 10 will be described below.

[0011] (Regarding stereo camera 12) The stereo camera 12 is provided in the center in the vehicle width direction at the upper end of the windshield glass 50 of the vehicle V. The stereo camera 12 captures images of the front side of the vehicle V and outputs the captured image data to a periphery detection unit 34 of the control unit 30, which will be described later.

[0012] (Regarding the laser light irradiation device 14) The laser light emitting devices 14 are provided, for example, at both ends in the vehicle width direction of a bumper cover 52 that constitutes the front end of the vehicle V. The laser light emitting devices 14 are configured to include a main body having a laser oscillator and a support that supports the main body. The laser light emitting devices 14 are electrically connected to a laser light emission control unit 38 of the control unit 30 (described later) and are operated under the control of the laser light emission control unit 38 to emit laser light toward the road surface ahead of the vehicle V. The support unit of the laser light emitting devices 14 also has an actuator, and by driving the actuator, the attitude of the main body is changed and the emission direction of the laser light is changed. Specifically, the emission direction of the laser light can be changed in the vertical direction and the horizontal direction of the vehicle.

[0013] (Vehicle speed sensor 16 and steering angle sensor 18) The vehicle speed sensor 16 detects the rotation speed of the output shaft of the vehicle V and outputs a detection signal to a driving condition detection unit 36 ​​of the control unit 30, which will be described later. In addition, the steering angle sensor 18 detects the steering angle of the steering wheel 54 of the vehicle V and outputs a detection signal to the driving condition detection unit 36.

[0014] (Regarding GPS receiver 20) The GPS receiver 20 is provided on the roof 56 of the vehicle V. The GPS receiver 20 receives signals from GPS satellites and determines the current position of the vehicle V. The GPS receiver 20 outputs the determined current position information of the vehicle V to a driving condition detection unit 36 ​​of the control unit 30, which will be described later.

[0015] (Regarding the storage unit 22) The storage unit 22 is configured to include a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The storage unit 22 stores map data and the like, and the map data includes map information such as road position information and road attribute information. Here, the road attribute information includes the speed limit of the road, the radius of the curve of the road, the gradient angle of the road, etc.

[0016] (About Speaker 24) The speaker 24 is built into a side door 58 that forms a side of the vehicle V. As will be described in detail later, the driving assistance device 10 notifies the driver of information relating to driving operations by voice from the speaker 24.

[0017] (Regarding operation switch 26) The operation switch 26 is operable and provided on the steering wheel 54 of the vehicle V. The operation switch 26 is electrically connected to a control unit 30 (described later) and outputs an output signal corresponding to the operation of the operation switch 26 to the control unit 30. The control unit 30 starts or stops the operation of the driving assistance device 10 based on the output signal from the operation switch 26.

[0018] (Regarding the control unit 30) The control unit 30 includes a memory 32, a surroundings detection unit 34, a driving condition detection unit 36, a laser light irradiation control unit 38, and a voice guidance generation unit 40.

[0019] The memory 32 includes a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The memory 32 stores various data such as control programs, for example.

[0020] The periphery detection unit 34 detects the surrounding conditions ahead of the vehicle V based on the captured image data output from the stereo camera 12. Specifically, the periphery detection unit 34 processes the captured image data from the stereo camera 12 to determine whether or not it can detect dividing lines in the lane in which the vehicle is traveling. The periphery detection unit 34 also determines whether or not it can detect ruts in the lane in which the vehicle is traveling. Furthermore, the periphery detection unit 34 determines whether or not it can detect a vehicle ahead of the vehicle V, and if it detects a vehicle ahead, calculates the distance between the vehicle V and the vehicle ahead, the relative speed, etc.

[0021] The driving condition detection unit 36 ​​detects the driving condition of the vehicle V. Specifically, the driving condition detection unit 36 ​​calculates the driving speed of the vehicle V based on the output data from the vehicle speed sensor 16. In addition, the driving condition detection unit 36 ​​predicts the traveling direction of the vehicle V based on the output data from the steering angle sensor 18.

[0022] The laser light irradiation control unit 38 controls the operation of the laser light irradiation device 14 based on the detection result of the periphery detection unit 34. When the laser light irradiation device 14 is in operation, the laser light irradiation device 14 operates so that the laser light LL irradiated forward from the laser light irradiation device 14 flashes on the road surface in front of the vehicle V. In other words, the pair of left and right laser lights LL flashing on the road surface allows the driver to recognize the positions of both ends of the vehicle V in the vehicle width direction.

[0023] Furthermore, when the laser light emitting device 14 is activated, the laser light emission control unit 38 controls the operation of the laser light emitting device 14 so that the laser light LL flashing on the road surface moves in the traveling direction of the vehicle V. Specifically, based on the traveling direction predicted by the traveling state detection unit 36, the laser light emission control unit 38 drives the actuator of the laser light emitting device 14 to change the irradiation direction of the laser light LL. For example, when it is predicted that the vehicle V will travel straight, the main body of the laser light emitting device 14 is moved in the vertical direction of the vehicle, so that the laser light LL flashing on the road surface moves intermittently in a straight line toward the front of the vehicle as viewed from above (see FIG. 3). On the other hand, when it is predicted that the vehicle V will curve to the left, the main body of the laser light emitting device 14 is moved in the vertical direction and the horizontal direction of the vehicle, so that the laser light LL flashing on the road surface moves intermittently toward the left side of the vehicle as it moves toward the front of the vehicle as viewed from above (see FIG. 4).

[0024] Furthermore, although details will be described later, when the periphery detection unit 34 detects a wheel track ahead of the vehicle V, the laser light irradiation control unit 38 operates the laser light irradiation device 14 to irradiate the laser light LL emitted from the laser light irradiation device 14 toward the wheel track. More specifically, the laser light irradiation control unit 38 operates the laser light irradiation device 14 to irradiate the laser light LL emitted from the laser light irradiation device 14 toward a position spaced a predetermined distance (10 cm in this embodiment) outward in the vehicle width direction from the wheel track.

[0025] The voice guidance generation unit 40 generates voice guidance data related to driving operations and outputs it to the speaker 24. Specifically, the voice guidance generation unit 40 acquires the position of the vehicle V and road attribute information of the road on which the vehicle V is traveling based on the position information measured by the GPS receiver 20, and also acquires the traveling speed of the vehicle V from the traveling condition detection unit 36. Furthermore, the voice guidance generation unit 40 acquires the inter-vehicle distance between the vehicle V and the vehicle ahead, etc. from the periphery detection unit 34. Then, the voice guidance generation unit 40 generates voice guidance data related to driving operations from this acquired information and outputs it to the speaker 24.

[0026] For example, the voice guidance generating unit 40 generates voice guidance data such as "Please drive at the speed limit of XX km / h" to encourage the driver to drive at the speed limit, or "You are exceeding the speed limit of XX km / h by 10 km / h" to inform the driver that the speed limit has been exceeded, and outputs the generated data to the speaker 24. The voice guidance generating unit 40 also generates voice guidance data such as "Please use the vehicle ahead as a landmark," "You are approaching the vehicle ahead," and "You are moving away from the vehicle ahead" to encourage the driver to drive using the vehicle ahead as a landmark, and outputs the generated data to the speaker 24. The voice guidance generating unit 40 also generates voice guidance data such as "There is a gentle left curve ahead," "There is a sharp left curve ahead," "There is a gentle right curve ahead," and "There is a sharp right curve ahead" to alert the driver based on road attribute information, and outputs the generated data to the speaker 24.

[0027] In addition, when the control unit 30 of the driving assistance device 10 detects a lane marking, the control unit 30 controls the operation angle of the steering wheel 54 of the vehicle V to perform driving assistance that prevents the vehicle V from deviating from the lane marking. In this case, the display of the vehicle V displays a message that the driving assistance device 10 is performing driving assistance to prevent lane departure.

[0028] (Action and effect) Next, the operation of the driving support device 10 will be described using the flowchart shown in FIG. 5, and the functions and effects of this embodiment will be described.

[0029] In the operation of the driving assistance device 10, in step 1 (ST1), the control unit 30 detects a start instruction for the driving assistance device 10 based on an output signal from the operation switch 26. If a start instruction for the driving assistance device 10 cannot be detected in step 1 (No in step 1), the process returns to step 1. If a start instruction for the driving assistance device 10 is detected in step 1 (Yes in step 1), the process proceeds to step 2 (ST2).

[0030] In step 2, the periphery detection unit 34 determines whether or not it can detect the lane markings in the lane in which the vehicle V is traveling. That is, it determines whether or not the lane markings on the road surface are covered by snow or the like, for example. If the periphery detection unit 34 can detect the lane markings (Yes in step 2), the process proceeds to step 3 (ST3).

[0031] In step 3, the driving assistance device 10 controls the operation angle of the steering wheel 54 of the vehicle V to perform driving assistance so that the vehicle V does not deviate from the lane. That is, driving assistance aimed at preventing the vehicle V from deviating from the lane is performed based on the detected lane markings. After processing step 3, the process returns to step 2.

[0032] In step 2, if the periphery detection unit 34 cannot detect the lane markings (No in step 2), the process proceeds to step 4 (ST4).

[0033] In step 4, the periphery detection unit 34 determines whether or not it has detected a rut ahead of the vehicle V. If the periphery detection unit 34 has detected a rut (Yes in step 4), the process proceeds to step 5 (ST5).

[0034] In step 5, the laser light irradiation control unit 38 operates the laser light irradiation device 14, and the laser light LL emitted from the laser light irradiation device 14 is directed toward the rut. Specifically, the laser light LL emitted from the laser light irradiation device 14 is directed toward a position 10 cm outward in the vehicle width direction from the rut. This allows the driver to recognize the position irradiated by the laser light LL as the position of the lane marking and drive the vehicle V. In other words, if a lane marking cannot be detected but a rut is detected, an imaginary lane marking based on the rut is formed in front of the vehicle V by the laser light LL, thereby providing driving assistance to the driver. After processing step 5, the process returns to step 2.

[0035] In step 4, if the surroundings detection unit 34 cannot detect a wheel track (No in step 4), the process proceeds to step 6 (ST6).

[0036] In step 6, the laser light irradiation control unit 38 activates the laser light irradiation device 14 to irradiate the laser light LL from both widthwise ends of the vehicle V toward the front of the vehicle. As a result, the laser light LL irradiated from the laser light irradiation device 14 flashes on and off on the road surface at positions corresponding to both widthwise ends of the vehicle V. This allows the driver to drive using the laser light LL irradiated forward as a landmark. Also, in step 6, the laser light irradiation control unit 38 controls the actuator of the laser light irradiation device 14 to change the irradiation direction of the laser light LL based on the traveling direction predicted by the traveling state detection unit 36. In other words, if a lane marking or rut cannot be detected, an imaginary lane marking based on the traveling direction of the vehicle V is formed in front of the vehicle V using the laser light LL, thereby providing driving assistance to the driver. After processing step 6, the process proceeds to step 7 (ST7).

[0037] In step 7, the periphery detection unit 34 determines whether or not it has detected a vehicle ahead of the vehicle V. If the periphery detection unit 34 has detected a vehicle ahead (Yes in step 7), the process proceeds to step 8 (ST8).

[0038] In step 8, the voice guidance generating unit 40 generates voice guidance data encouraging the driver to drive using the vehicle ahead as a landmark, and outputs the data to the speaker 24. As a result, voice messages such as "Please drive using the vehicle ahead as a landmark," "You are approaching the vehicle ahead," and "You are moving away from the vehicle ahead" are announced from the speaker 24. In other words, voice driving assistance based on the vehicle ahead is provided.

[0039] Furthermore, in step 8, if the traveling speed of vehicle V exceeds the speed limit by 10 km / h, the voice guidance generating unit 40 generates voice guidance data encouraging the driver to drive at the speed limit and outputs it to the speaker 24. For example, a voice such as "You are exceeding the speed limit by 10 km / h. Do not follow the vehicle ahead, but drive at the speed limit of XX km / h" is announced from the speaker 24. This encourages the driver to drive at the speed limit. After processing step 8, the process proceeds to step 10 (ST10).

[0040] In step 7, if the periphery detection unit 34 cannot detect a forward vehicle (No in step 7), the process proceeds to step 9 (ST9).

[0041] In step 9, the voice guidance generating unit 40 generates voice guidance data encouraging driving at the speed limit and outputs it to the speaker 24. For example, a voice such as "Please drive at the speed limit of XX Km / h" or "You are exceeding the speed limit of XX Km / h by 10 Km / h" is announced from the speaker 24. As a result, if there is no vehicle ahead, voice driving assistance based on the speed limit is provided. After processing step 9, the process proceeds to step 10 (ST10).

[0042] In step 10, the voice guidance generating unit 40 determines whether there is road attribute information to be notified about the road the vehicle is traveling on. If there is road attribute information to be notified about in step 10 (Yes in step 10), the process proceeds to step 11 (ST11).

[0043] In step 11, the voice guidance generating unit 40 generates voice guidance data to warn about driving operations based on the road attribute information of the map data, and outputs the data to the speaker 24. As a result, voices such as "There is a gentle left curve ahead," "There is a sharp left curve ahead," "There is a gentle right curve ahead," and "There is a sharp right curve ahead" are announced from the speaker 24. After processing step 11, the process proceeds to step 12 (ST12). Also, if there is no road attribute information to warn about in step 10 (No in step 10), the process proceeds to step 12.

[0044] In step 12, the control unit 30 detects a stop instruction to the driving assistance device 10 based on the output signal from the operation switch 26. If a stop instruction to the driving assistance device 10 is not detected in step 12 (No in step 12), the process returns to step 2. On the other hand, if a stop instruction to the driving assistance device 10 is detected in step 12 (Yes in step 12), the operation of the driving assistance device 10 is stopped.

[0045] As described above, the driving assistance device 10 has a pair of left and right laser light projectors 14. Furthermore, the periphery detection unit 34 of the control unit 30 detects the lane markings and ruts that define the lane in which the vehicle V is traveling, based on the data captured by the stereo camera 12. If the control unit 30 is unable to detect the lane markings but detects ruts, the laser light projection control unit 38 of the control unit 30 activates the laser light projector 14 to project laser light LL toward the ruts. This allows for the laser light LL to be used to form imaginary lane markings based on the ruts, even when driving assistance based on the lane markings cannot be provided, and driving assistance can be provided using the imaginary lane markings as landmarks. This improves convenience for the driver.

[0046] Furthermore, when the periphery detection unit 34 of the control unit 30 is unable to detect ruts but detects a vehicle ahead, the voice guidance generation unit 40 of the control unit 30 generates voice information related to driving operations according to the distance to the vehicle ahead or the driving speed, and issues a notification from the speaker 24. In particular, as described above, the voice guidance generation unit 40 generates voice guidance data encouraging driving using the vehicle ahead as a landmark, and outputs this to the speaker 24. The voice guidance generation unit 40 also generates voice guidance data encouraging driving based on the speed limit, and outputs this to the speaker 24. As a result, even when the control unit 30 is unable to detect lane lines and ruts, voice guidance regarding driving based on the vehicle ahead can be provided, thereby providing driving assistance to the driver.

[0047] Furthermore, if the periphery detection unit 34 of the control unit 30 cannot detect ruts, the laser light irradiation control unit 38 operates the laser light irradiation device 14 so that the laser light LL irradiated onto the road surface moves toward the traveling direction of the vehicle V. Furthermore, the irradiation direction of the laser light LL is changed according to the steering angle of the steering wheel 54 of the vehicle V. As a result, even if the control unit 30 cannot detect lane lines and ruts, imaginary lane lines based on the traveling direction of the vehicle V can be formed in front of the vehicle V using the laser light LL, thereby providing driving assistance to the driver.

[0048] Furthermore, if the periphery detection unit 34 of the control unit 30 cannot detect a vehicle ahead, the voice guidance generation unit 40 of the control unit 30 generates information about driving operations based on the speed limit information of the road and outputs it to the speaker 24. As a result, even if a vehicle ahead cannot be detected, the driver can be given voice guidance about the speed limit while using the imaginary lane markings formed by the laser light LL as a landmark.

[0049] The above describes in detail an embodiment of the present invention with reference to the drawings. However, all vehicles that can be implemented by a person skilled in the art by making appropriate design modifications based on the vehicle described above as an embodiment of the present invention also fall within the scope of the present invention as long as they include the gist of the present invention. Within the scope of the concept of the present invention, a person skilled in the art may conceive of various modifications and alterations, and it is understood that these modifications and alterations also fall within the scope of the present invention. For example, any embodiment in which a person skilled in the art appropriately adds or deletes components or modifies the design of the above-described embodiments is included within the scope of the present invention as long as it includes the gist of the present invention.

[0050] Furthermore, other effects and advantages brought about by the aspects described in this embodiment that are clear from the description in this specification or that can be appropriately thought of by a person skilled in the art are naturally understood to be brought about by the present invention. Various inventions can be formed by appropriately combining the multiple components disclosed in the above embodiments. For example, some components may be omitted from all the components shown in the embodiment. [Explanation of symbols]

[0051] 10 Driving assistance devices 12 Stereo camera (imaging unit) 14 Laser light irradiation device (laser light irradiation unit) 22 Memory section 24 Speaker (announcement section) 30 Control Unit 54 Steering LL laser light

Claims

1. an imaging unit that captures an image of a scene ahead of the vehicle; a pair of left and right laser light emitting units in a vehicle width direction that are activated to irradiate laser light from the vehicle to a road surface in front of the vehicle; a control unit that detects marking lines and ruts that define a lane on which the vehicle is traveling based on an image captured by the imaging unit and activates the laser light irradiation unit; Equipped with When the control unit is unable to detect the lane markings but detects the ruts, the control unit activates the laser light irradiation unit to irradiate the laser light toward the ruts.

2. a notification unit that notifies information related to driving operations; the control unit detects a forward vehicle ahead of the vehicle based on the captured image from the imaging unit, and calculates a distance between the vehicle and the forward vehicle and a traveling speed of the vehicle; 2. The driving assistance device according to claim 1, wherein, when the control unit is unable to detect the rut and detects the vehicle ahead, the control unit causes the notification unit to notify the information corresponding to the calculated inter-vehicle distance or the traveling speed.

3. 3. The driving assistance device according to claim 2, wherein, when the control unit cannot detect the rut, the control unit activates the laser light emitting unit so that the laser light irradiated onto the road surface moves toward the vehicle's traveling direction, and changes the irradiation direction of the laser light according to the steering angle of the vehicle.

4. a storage unit for storing map information in which road speed limit information is stored; The driving assistance device according to claim 2 , wherein, when the control unit cannot detect the forward vehicle, the control unit causes the notification unit to notify the information based on the speed limit information.

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