Other vehicle meandering detection device

Abstract

To provide an other vehicle meandering detection device that improves the accuracy of detecting meandering of vehicles.SOLUTION: A CPU 2 detects meandering of other vehicles 200 based on the behavior of the other vehicles 200 captured in a camera image. The CPU 2 detects meandering of an own vehicle 100 based on the positions of white lines 300R and 300L on a traffic lane where the own vehicle 100 captured in the camera image travels, or based on lateral G-values detected by a G-sensor 24. When detecting meandering of the own vehicle, the CPU 2 stops detecting meandering of the other vehicles.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a device for detecting meandering of another vehicle. [Background technology]

[0002] It has been proposed in the past to detect the meandering of other vehicles from the behavior of other moving bodies (other vehicles) captured in a surrounding image captured by a camera (Patent Document 1). However, even when the subject vehicle is meandering, the behavior of the other vehicle captured in the surrounding image is the same as when the other vehicle itself is meandering, which has been a problem in that it is not possible to accurately detect the meandering of the other vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-9068 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an apparatus for detecting meandering of another vehicle that improves the accuracy of detecting meandering of another vehicle. [Means for solving the problem]

[0005] In order to achieve the above-mentioned object, the other vehicle meandering detection device according to the present invention has the following features. an other vehicle meandering detection unit that detects meandering of the other vehicle based on the behavior of the other vehicle captured in a camera image; a host vehicle meandering detection unit that detects meandering of the host vehicle; the other vehicle meandering detection unit stops detecting meandering of the other vehicle when the host vehicle meandering detection unit detects meandering of the host vehicle; It must be a device that detects other vehicles meandering. [Effects of the Invention]

[0006] The other vehicle meandering detection device according to the present invention has the effect of improving the accuracy of detecting meandering of other vehicles.

[0007] The present invention has been briefly described above. The details of the present invention will become clearer by reading the following detailed description of the invention (hereinafter referred to as "embodiments") with reference to the accompanying drawings. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an embodiment of a digital tachograph incorporating a meandering vehicle detection device according to the present invention. [Figure 2] FIG. 2 is a flowchart showing a processing procedure of the meandering detection processing executed by the CPU shown in FIG. [Figure 3] FIG. 3 is an explanatory diagram for explaining the process of detecting the meandering behavior of the vehicle shown in FIG. 2 using white lines. [Figure 4] FIG. 4 is an explanatory diagram for explaining the process of detecting the meandering behavior of the vehicle shown in FIG. 2 using white lines. [Figure 5] FIG. 5 is a time chart of the lateral G values ​​when the vehicle is meandering. [Figure 6] FIG. 6 is a time chart of the lateral G values ​​when changing lanes. [Figure 7] Figure 7 is a time chart of the lateral G-forces when driving on a series of curves. [Figure 8] FIG. 8 is a flowchart showing the processing procedure of the process for detecting the meandering behavior of the vehicle shown in FIG. 2 using a G sensor. [Figure 9] FIG. 9 is an explanatory diagram for explaining the process of detecting the meandering behavior of another vehicle shown in FIG. [Figure 10] FIG. 10 is an explanatory diagram for explaining the process of detecting the meandering behavior of another vehicle shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] Specific embodiments of the present invention will be described below with reference to the accompanying drawings. In this embodiment, an example will be described in which the other vehicle meandering detection device of the present invention is incorporated into a digital tachograph 1 mounted on a vehicle such as a truck.

[0010] 1 is a block diagram showing an embodiment of a digital tachograph 1 incorporating an other vehicle meandering detection device of the present invention. The digital tachograph 1 is mounted on, for example, a truck vehicle (hereinafter simply referred to as "vehicle") managed by a transportation company.

[0011] In addition to recording operational data such as entry and exit times, distance traveled, driving time, driving speed, accelerator opening, speeding, engine RPMs exceeding, sudden starts, sudden acceleration, and sudden deceleration, the digital tachograph 1 of this embodiment also records as operational data the swerving driving of other vehicles traveling ahead (tailgating by other vehicles) and the swerving driving of the vehicle itself (tailgating by the vehicle itself).

[0012] The digital tachograph 1 includes a CPU (Central Processing Unit) 2, a storage unit 3, and a card I / F 4.

[0013] The CPU 2 comprehensively controls each part of the digital tachograph 1. The CPU 2 is a computer that operates according to an operating program stored in a memory (not shown). The memory unit 3 stores data such as operation data and images in a predetermined memory area. A memory card 20 owned by the driver is removably connected to the card I / F 4. The CPU 2 writes the operation data stored in the memory unit 3 to the memory card 20 connected to the card I / F 4.

[0014] The digital tachograph 1 also includes I / Fs 5 to 9 and a communication unit 10.

[0015] A vehicle speed sensor 21 that detects the speed of the vehicle is connected to the I / F 5. An engine rotation sensor 22 is connected to the I / F 6. An accelerator opening sensor 23 is connected to the I / F 7.

[0016] The I / F 8 is connected to a G sensor 24 that detects acceleration including lateral acceleration (lateral G value) occurring in the left and right direction (vehicle width direction) as seen by the driver.

[0017] The I / F 9 is connected to a camera 25. In this embodiment, the camera 25 is installed in a vehicle and acquires camera images of the area ahead of the vehicle. The communication unit 10 performs wide-area communication, and when connected to a wireless base station (not shown) via a portable communication network (mobile communication network), transmits operation data to a management server or an office PC via a network such as the Internet connected to the wireless base station.

[0018] The CPU 2 detects the meandering of other vehicles based on the behavior of the other vehicles captured in the camera image. The CPU 2 also detects the meandering of the host vehicle based on the camera image and the lateral G values ​​detected by the G sensor 24, and stops detecting the meandering of other vehicles while detecting the meandering of the host vehicle.

[0019] Next, the operation of the digital tachograph 1 outlined above will be described in detail with reference to Fig. 2. The CPU 2 executes a meandering detection process when the ignition switch is turned on. In the meandering detection process, the CPU 2 executes a process for detecting the meandering behavior of the vehicle (S1).

[0020] In the host vehicle meandering behavior detection process of S1, the CPU 2 detects a host vehicle meandering behavior in which the host vehicle moves in either the left or right direction and then returns to its original position in the left or right direction. After detecting a host vehicle meandering behavior once, the CPU 2 detects a host vehicle meandering behavior in which the host vehicle moves in the left or right direction in the opposite direction to the direction in which the host vehicle last detected a meandering behavior of the host vehicle and then returns to its original position in the left or right direction. As will be described in S2 to S6 below, if this host vehicle meandering behavior is detected continuously for a period equal to or greater than a set value SV11 (first set value), the CPU 2 detects that the host vehicle is meandering.

[0021] In S2, the CPU 2 detects the meandering behavior of the host vehicle based on the position of the white line of the lane on which the host vehicle is traveling, detected from the camera image, or the left and right G values ​​detected by the G sensor 24.

[0022] Next, the details of the host vehicle meandering behavior detection process using white lines performed in S2 described above will be described with reference to Figs. 3 and 4. Figs. 3(A), (C) and 4(A), (C) are explanatory diagrams showing the relationship between the host vehicle 100 and the other vehicle 200. Fig. 3(B) is a camera image captured by the camera 25 when the relationship between the host vehicle 100 and the other vehicle 200 is as shown in Fig. 3(A). Fig. 3(D) is a camera image captured by the camera 25 when the relationship between the host vehicle 100 and the other vehicle 200 is as shown in Fig. 3(C). Fig. 4(B) is a camera image captured by the camera 25 when the relationship between the host vehicle 100 and the other vehicle 200 is as shown in Fig. 4(A). Fig. 4(D) is a camera image captured by the camera 25 when the relationship between the host vehicle 100 and the other vehicle 200 is as shown in Fig. 4(C).

[0023] The CPU 2 processes the camera image to detect white lines 300R, 300L on the left and right of the lane in which the host vehicle 100 is traveling in the camera image. The CPU 2 calculates the lateral distances LR, LL between the host vehicle 100 and the white lines 300R, 300L from the positional relationship between the white lines 300R, 300L and the reference line L in the camera image. The reference line L is a line that indicates a reference lateral position, and in this embodiment, is set at the center of the lateral direction of the camera image. The CPU 2 detects the host vehicle's meandering behavior based on the lateral distances LR, LL.

[0024] When the host vehicle 100 is positioned approximately in the center of the lane, the left distance LL and the right distance LR are approximately equal. As the host vehicle 100 approaches the white line 300R, the right distance LR decreases and the left distance LL increases. As the host vehicle 100 approaches the white line 300L, the left distance LL decreases and the right distance LR increases.

[0025] For example, when the host vehicle 100 moves to the right (or left) side from a state where both the left distance LL and the right distance LR are equal to or greater than the set value SV2 (FIGS. 3(A) and (B)), the right distance LR (or left distance LL) becomes equal to or less than the set value SV3 (<set value SV2) (FIGS. 3(C) and (D)), and then moves to the left (or right) side (FIGS. 4(A) and (B)), returns to the original position, and both the left distance LL and the right distance LR become equal to or greater than the set value SV2 (FIGS. 4(C) and (D)).

[0026] After detecting the snaking behavior of the vehicle once, CPU2 detects the snaking behavior of the vehicle when the vehicle 100 moves to the left (or right) side in the opposite direction to the previously detected snaking behavior of the vehicle from a state in which the left distance LL and the right distance LR are equal to or greater than the set value SV2, the left distance LL (or the right distance LR) becomes equal to or less than the set value SV3, then moves to the right (or left), returns to the original position, and both the left distance LL and the right distance LR become equal to or greater than the set value SV2.

[0027] When there are no white lines on the road and the white lines cannot be detected, the CPU 2 detects the snaking behavior of the host vehicle using the lateral G values ​​detected by the G sensor 24. The principle of the snaking behavior of the host vehicle using the G sensor 24 will be described with reference to Figs. 5 to 7. Fig. 5 is a time chart of the lateral G values ​​when the vehicle is driving snakingly. As shown in the figure, the lateral G values ​​alternately show right and left peaks that exceed the set value SV41 set in the right and left directions, respectively, in a short period of time.

[0028] Figure 6 is a time chart of the left and right G-values ​​when changing lanes. As shown in the figure, just like when snaking, the left and right G-values ​​alternately show right and left peaks that exceed the set value SV4 in a short period of time, but the number of peaks is only two.

[0029] Figure 7 is a time chart of the lateral G-values ​​when driving on a series of curves. As shown in the figure, just like when driving on a meandering road, the lateral G-values ​​alternately show right and left peaks that exceed the set value SV41. However, when driving on a series of curves, the time between peaks is longer than when driving on a meandering road. It was also found that the turning radius is small, and the peak turning radius falls below the set value SV5. When driving on a meandering road, the turning radius is large, and the peak turning radius never falls below the set value SV5.

[0030] Therefore, the CPU 2 detects the meandering of the vehicle when the number of times that the left and right G values ​​alternately exceed the set value SV4 set in the left direction and the set value SV4 set in the right direction within a predetermined time T1 exceeds the set value SV11.

[0031] Based on the above, the process of detecting the host vehicle's meandering behavior using the lateral G values, which is performed in S1 above, will be described in detail with reference to the flowchart of FIG.

[0032] First, the CPU 2 determines whether a host vehicle meandering counter, which indicates the number of times that the host vehicle's meandering behavior has been detected (which can also be considered as the number of times that the left and right G-forces alternately exceed the left and right set value SV41), is 0 (S11). If the host vehicle meandering counter is 0 (Y in S11), the CPU 2 immediately proceeds to S13. On the other hand, if the host vehicle meandering counter is not 0 (N in S11), the CPU 2 determines whether the left and right G-force values ​​are in the opposite direction to the host vehicle's meandering behavior detected previously (S12). If the left and right G-force values ​​are not in the opposite direction (N in S12), the CPU 2 does not detect the host vehicle's meandering behavior (S19) and ends the process. If the left and right G-force values ​​are in the opposite direction (Y in S12), the CPU 2 proceeds to S13.

[0033] In S13, the CPU 2 subsequently determines whether the left and right G values ​​in the same direction are consecutive. If they are not consecutive (N in S13), the CPU 2 does not detect the meandering behavior of the host vehicle (S19) and ends the process.

[0034] Next, CPU2 determines whether the lateral G-value in the same direction exceeds a set value SV41 (S14). If the lateral G-value is equal to or less than the set value SV41 (N in S14), CPU2 does not detect the host vehicle's snaking behavior (S19) and ends the process. If the lateral G-value exceeds the set value SV41 (Y in S14), CPU2 determines that the host vehicle is moving to the right (or left), and calculates the turning radius of the host vehicle (S15). In this embodiment, the turning radius is calculated from the G-value and vehicle speed using the following equation 1.

[0035]

number

[0036] If the turning radius is smaller than the set value SV5 (N in S16), the CPU 2 determines that the vehicle is traveling on a curve, does not detect the host vehicle's meandering behavior (S19), and ends the process. If the peak of the turning radius is equal to or greater than the set value SV5 (Y in S16), the CPU 2 determines whether the lateral G-value has changed from equal to or less than the set value SV42 (second threshold) to exceed the set value SV41 within a predetermined time T3 (third predetermined time) and then returned to equal to or less than the set value SV42 again (S17). The set value SV42 is set to a value smaller than the set value SV41, and is, for example, a value that allows the G-value to be regarded as 0. If the lateral G-value becomes equal to or less than the set value SV41 within the predetermined time T3 (Y in S17), the CPU 2 determines that the host vehicle has returned to its original position, detects the host vehicle's meandering behavior (S18), and ends the process.

[0037] Next, returning to the flowchart of Fig. 2, after performing the host vehicle meandering behavior detection process of S1 described above, if the host vehicle meandering behavior is not detected in S1 (N in S2), the CPU 2 determines whether the host vehicle meandering behavior has not been detected for a predetermined time T21 or more (S3). If the host vehicle meandering behavior has not been detected for the predetermined time T21 or more (Y in S3), the CPU 2 sets the host vehicle meandering counter to 0 (S4) and then proceeds to S7. If the time during which the host vehicle meandering behavior has not been detected is less than the predetermined time T21 (N in S3), the CPU 2 immediately proceeds to S7.

[0038] In response to this, when the CPU 2 detects the host vehicle's meandering behavior in S1 (Y in S2), it increments (counts up) the host vehicle's meandering counter by 1 (S5). If the host vehicle's meandering counter is equal to or greater than the set value SV11 (Y in S6), the CPU 2 determines that the host vehicle's meandering behavior has been repeated within the predetermined time T1 (=T21×SV11), and detects that the host vehicle is intentionally meandering, i.e., tailgating. When it detects that the host vehicle is meandering, the CPU 2 stores this information in the memory unit 3 and does not detect meandering of other vehicles ahead until the host vehicle's meandering has ended. On the other hand, if the host vehicle's meandering counter is less than the set value SV11 (N in S6), the CPU 2 proceeds to S7.

[0039] In S7, the CPU 2 executes another vehicle's snaking behavior detection process. In the another vehicle's snaking behavior detection process, the CPU 2 detects another vehicle's snaking behavior in which the other vehicle captured in the camera image moves in either the left or right direction and then returns to its original position in the left or right direction. When the CPU 2 detects another vehicle's behavior once, it detects another vehicle's snaking behavior in which the other vehicle moves in the left or right direction opposite to the direction when the other vehicle's snaking behavior was last detected and then returns to its original position in the left or right direction.

[0040] Next, details of the other vehicle meandering behavior detection process in S7 will be described with reference to Figures 9 and 10. Figures 9 and 10 show camera images captured by the camera 25, and the camera images capture another vehicle 200 ahead. The CPU 2 processes the camera images to detect the other vehicle 200 in the camera images. The CPU 2 detects the other vehicle's meandering behavior based on the relationship between the position of the other vehicle 200 in the camera images and the reference line L.

[0041] The CPU 2 detects the snaking behavior of the other vehicle when the other vehicle 200 moves to the left (or right) (Figure 9(B)) from a state in which the other vehicle 200 is located on the reference line L (Figure 9(A)), moves away from the reference line L by more than the set value SV6 (Figure 9(C)), then moves to the right (or left) (Figure 10(A)), and returns to the reference line L (Figure 10(B)).

[0042] After detecting one snaking behavior of the other vehicle, the CPU detects the other vehicle's snaking behavior when the other vehicle 200 moves from a state in which the other vehicle 200 is positioned on the reference line L to the right (or left) side in the opposite direction to the previously detected snaking behavior of the other vehicle, moves away from the reference line L by a set value SV6 or more, then moves to the left (or right) side, and returns to the reference line L.

[0043] Returning to Fig. 2, if the meandering behavior of another vehicle is not detected thereafter (N in S8), the CPU 2 determines whether the meandering behavior of another vehicle has not been detected for a predetermined time T22 or more (S9). If the meandering behavior of another vehicle has not been detected for a certain time T21 or more (Y in S9), the CPU 2 sets the other vehicle meandering counter to 0 (S10) and then returns to S1. If the time during which the meandering behavior of another vehicle has not been detected is less than the certain time T21 (N in S9), the CPU 2 immediately returns to S1.

[0044] In response to this, when another vehicle's meandering behavior is detected in S7 (Y in S8), the CPU 2 determines whether the host vehicle's meandering counter is greater than 0 (S11). If the host vehicle's meandering counter is 0 (N in S11), the CPU 2 increments (counts up) the host vehicle's meandering counter by 1 (S12). If the host vehicle's meandering counter is equal to or greater than a set value SV12 (second set value) (Y in S13), the CPU 2 determines that another vehicle's meandering behavior has been repeated in a short period of time, and that the other vehicle ahead is meandering, i.e., is being tailgated. When the CPU 2 detects that the other vehicle is meandering, it records this in the memory unit 3. On the other hand, if the host vehicle's meandering counter is less than a set value SV1 (N in S13), the CPU 2 returns to S1.

[0045] According to the above-described embodiment, the meandering of the other vehicle 200 is detected from the positional relationship between the other vehicle 200 captured in the camera image and the reference line L. As shown in FIGS. 3 and 4 , even when the host vehicle 100 meanders, the positional relationship between the other vehicle 200 and the reference position L is the same as when the other vehicle 200 meanders, and there is a risk that the meandering of the host vehicle 100 will be erroneously detected as the meandering of the other vehicle 200. Therefore, according to this embodiment, when the CPU 2 detects the meandering of the host vehicle, it stops the detection of the meandering of the other vehicle based on the camera image. This makes it possible to prevent the meandering of the host vehicle from being erroneously detected as the meandering of the other vehicle, thereby improving the accuracy of detecting the meandering of the other vehicle.

[0046] According to the above-described embodiment, the CPU 2 does not increment the host vehicle meandering counter even if it detects another vehicle's meandering behavior after the host vehicle meandering counter has been incremented. This reduces the number of times that the host vehicle's meandering behavior is mistakenly detected as another vehicle's meandering behavior, thereby further improving the accuracy of detecting the meandering of other vehicles.

[0047] According to the above-described embodiment, the CPU 2 detects the meandering of the host vehicle based on the position of the white lines of the lane the host vehicle is traveling in, detected from the camera image. This reduces the chance of falsely detecting lane changes or driving on successive curves as meandering of the host vehicle, and allows the host vehicle to accurately detect meandering, compared to when meandering of the host vehicle is detected based on lateral G values.

[0048] According to the above-described embodiment, the CPU 2 detects meandering of the vehicle based on the lateral G values, which makes it possible to detect meandering of the vehicle even when the vehicle is traveling on a road without white lines.

[0049] The present invention is not limited to the above-described embodiments, and can be appropriately modified, improved, etc. Furthermore, the material, shape, size, number, location, etc. of each component in the above-described embodiments are arbitrary and not limited as long as they can achieve the present invention.

[0050] In the above-described embodiment, the reference line L set in the process of detecting meandering of another vehicle is set at the center of the camera image in the lateral direction, but this is not limited to this. For example, the white line of the lane on which the host vehicle is traveling may be detected from the camera image, the center of the lane in the lateral direction may be determined from the detected white line, and the reference line L may be set at the center of the lane in the lateral direction that has been determined.

[0051] In the above-described embodiment, the turning radius is calculated from the vehicle speed and the G-value, but this is not limiting. The turning radius may be calculated from the output of a steering angle sensor provided on the vehicle.

[0052] Here, the features of the embodiment of the other vehicle meandering detection device according to the present invention described above will be briefly summarized and listed below in [1] to [3].

[0053] [1] an other vehicle meandering detection unit (2) that detects meandering of the other vehicle (200) based on the behavior of the other vehicle (200) captured in a camera image; a vehicle meandering detection unit (2) for detecting meandering of the vehicle (100); When the host vehicle meandering detection unit (2) detects meandering of the host vehicle (100), the other vehicle meandering detection unit (2) stops detecting meandering of the other vehicle (200). Other vehicle meandering detection device (1).

[0054] According to the above configuration [1], it is possible to prevent the meandering of the vehicle (100) from being erroneously detected as the meandering of the other vehicle (200), thereby improving the accuracy of detecting the meandering of the other vehicle (200).

[0055] [2] In the other vehicle meandering detection device (1) described in [1], The other vehicle meandering detection unit (2) a vehicle counting unit (2) that counts up an other vehicle snaking counter when detecting a snaking behavior of the other vehicle (200) captured in the camera image in which the other vehicle (200) moves in either the left or right direction and then returns to its original position, and thereafter counts up the other vehicle snaking counter each time the other vehicle (200) moves in the left or right direction in the opposite direction to when the other vehicle snaking behavior was detected last time and then returns to its original position, When the other vehicle meandering counter is equal to or greater than a first set value, the meandering of the other vehicle is detected; The vehicle meandering detection unit (2) a host vehicle counting unit that counts up a host vehicle meandering counter when detecting a host vehicle meandering behavior in which the host vehicle (100) moves in either the left or right direction and then returns to its original position, and thereafter counts up the host vehicle meandering counter each time the host vehicle (100) detects a host vehicle meandering behavior in which the host vehicle (100) moves in the left or right direction in the opposite direction to the direction in which the host vehicle meandering behavior was detected last time and then returns to its original position, When the host vehicle meandering counter is equal to or greater than a second set value, the host vehicle is detected as meandering; the host vehicle counting unit (2) does not count up the other vehicle meandering counter even if it detects the host vehicle meandering behavior after the other vehicle meandering counter has counted up; Other vehicle meandering detection device (1).

[0056] According to the configuration [2] above, it is possible to prevent the erroneous detection of the meandering behavior of the subject vehicle as the meandering behavior of another vehicle, and it is possible to further improve the accuracy of detecting the meandering behavior of another vehicle.

[0057] [3] In the other vehicle meandering detection device (1) described in [1], The host vehicle meandering detection unit (2) detects meandering of the host vehicle (100) based on the position of a white line of the lane on which the host vehicle (100) is traveling, which is detected from the camera image, or based on a lateral G value detected by a G sensor (24). Other vehicle meandering detection device (1).

[0058] According to the configuration [3], the meandering of the vehicle (100) can be detected with high accuracy by detecting the meandering of the vehicle (100) based on the positions of the white lines. Also, the meandering of the vehicle (100) can be detected even when the vehicle (100) is traveling on a road without white lines by detecting the meandering of the vehicle (100) based on the lateral G values. [Explanation of symbols]

[0059] 1 Digital tachograph (other vehicle meandering detection device) 2 CPUs (other vehicle meandering detection unit, own vehicle meandering detection unit, other vehicle count unit, own vehicle count unit) 24 G sensor 100 Vehicle 200 other vehicles

Claims

1. an other vehicle meandering detection unit that detects meandering of the other vehicle based on the behavior of the other vehicle captured in a camera image; a host vehicle meandering detection unit that detects meandering of the host vehicle; the other vehicle meandering detection unit stops detecting meandering of the other vehicle when the host vehicle meandering detection unit detects meandering of the host vehicle; Other vehicle meandering detection device.

2. The other vehicle meandering detection device according to claim 1, The other vehicle meandering detection unit an other vehicle counting unit that counts up an other vehicle snaking counter when detecting a other vehicle snaking behavior in which the other vehicle captured in the camera image moves in either a left or right direction and then returns to its original position, and thereafter counts up the other vehicle snaking counter each time it detects a other vehicle snaking behavior in which the other vehicle moves in the left or right direction in the opposite direction to when the other vehicle snaking behavior was detected last time and then returns to its original position, When the other vehicle meandering counter is equal to or greater than a first set value, meandering of the other vehicle is detected; The host vehicle meandering detection unit a host vehicle counting unit that counts up a host vehicle meandering counter when detecting a host vehicle meandering behavior in which the host vehicle moves in either a left or right direction and then returns to its original position, and thereafter counts up the host vehicle meandering counter each time the host vehicle detects a host vehicle meandering behavior in which the host vehicle moves in the left or right direction in a direction opposite to the direction in which the host vehicle meandering behavior was detected last time and then returns to its original position, When the host vehicle meandering counter is equal to or greater than a second set value, meandering of the host vehicle is detected; the host vehicle counting unit does not count up the other vehicle meandering counter even if the other vehicle meandering behavior is detected after the other vehicle meandering counter has counted up; Other vehicle meandering detection device.

3. The other vehicle meandering detection device according to claim 1, the host vehicle meandering detection unit detects meandering of the host vehicle based on the position of a white line in a lane on which the host vehicle is traveling, detected from the camera image, or based on a left / right G value detected by a G sensor; Other vehicle meandering detection device.

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