Vehicle driving assistance system, vehicle driving assistance method, and vehicle driving assistance program

Abstract

To provide a vehicle driving assistance system that can appropriately prevent the vehicle from deviating from its lane. [Solution] The vehicle driving support device 10 provides a warning or steering assistance to prevent the vehicle 100 from deviating from its lane. The vehicle driving support device starts a warning or steering assistance when the vehicle reaches the support start line set along the lane markings. The vehicle driving support device stores the point where the vehicle reaches the support start line as a deviation point, and stores the amount by which the vehicle exceeds the support start line at the deviation point as the deviation amount. If the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number of times, the support start line is shifted away from the center of the lane according to the stored deviation amount.

Description

Technical Field

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

Background Art

[0002] There is a known technique for preventing the departure of the host vehicle from the lane by issuing an alarm when the host vehicle is likely to deviate from the lane. Also, when the host vehicle is traveling at a location where the frequency of lane changes is high, there is a known technique for not issuing an alarm even if the host vehicle is likely to deviate from the lane (see, for example, Patent Document 1). This technique prevents the driver from being bothered by unnecessary alarms.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Even when the host vehicle is traveling at a location where the frequency of lane changes is high, the host vehicle may deviate from the lane without the intention of changing lanes. However, according to the above-described technique, an alarm is not issued even in such a situation. Therefore, it is not possible to appropriately prevent the departure of the host vehicle from the lane.

[0005] An object of the present invention is to provide a vehicle driving support device, a vehicle driving support method, and a vehicle driving support program that can appropriately prevent the departure of the host vehicle from the lane.

[0006] The vehicle driving assistance system according to the present invention includes a control device that provides a warning or steering assistance to prevent the vehicle from deviating from its lane. The control device is configured to start the warning or steering assistance when the vehicle reaches an assistance start line set along the lane markings that demarcate the lane. The control device stores the point at which the vehicle reaches the assistance start line as a deviation point, and stores the amount by which the vehicle exceeds the assistance start line at the deviation point as the deviation amount. If the vehicle is traveling through the deviation point and the number of times the vehicle has reached the assistance start line at the deviation point is greater than or equal to a predetermined number of times, the control device is configured to shift the assistance start line away from the center of the lane according to the stored deviation amount.

[0007] According to the present invention, warnings or steering assistance are less likely to be issued at points where the operator voluntarily deviates from the lane and drives the vehicle. Therefore, the possibility of causing the operator annoyance by issuing unnecessary warnings or steering assistance can be reduced. Consequently, the vehicle can be appropriately prevented from deviating from the lane.

[0008] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured such that, when the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number of times, the larger the stored deviation amount, the greater the amount the support start line is shifted away from the center of the lane.

[0009] According to the present invention, the larger the stored deviation amount, the greater the amount the support start line is shifted. Therefore, it is possible to more reliably reduce the possibility of causing inconvenience to the operator through the implementation of unnecessary warnings or steering assistance.

[0010] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured not to store the point at which the vehicle has traveled beyond the support start line in order to ensure the safety of the vehicle, nor to store the amount by which the vehicle has crossed the support start line at that point.

[0011] According to the present invention, when a vehicle travels beyond the support start line to ensure its own safety, the location of that crossing and the amount by which the vehicle crossed the support start line are not recorded. Therefore, even if a vehicle travels beyond the support start line to ensure its own safety, the support start line is not shifted. As a result, the vehicle can be appropriately prevented from deviating from its lane.

[0012] Furthermore, the vehicle driving assistance method according to the present invention is a method for providing a warning or steering assistance to prevent the vehicle from deviating from a lane, wherein the warning or steering assistance is initiated when the vehicle reaches a support start line set along the lane markings that demarcate the lane. The vehicle driving assistance method according to the present invention includes the steps of: storing the point at which the vehicle reaches the support start line as a deviation point, and storing the amount by which the vehicle exceeds the support start line at the deviation point as the deviation amount; and, if the vehicle is traveling through the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number of times, shifting the support start line away from the center of the lane according to the stored deviation amount.

[0013] According to the present invention, it is possible to appropriately prevent the vehicle from deviating from its lane.

[0014] Furthermore, the vehicle driving support program according to the present invention is a program that provides warnings or steering assistance to prevent the vehicle from deviating from its lane, and is configured to start the warning or steering assistance when the vehicle reaches a support start line set along the lane markings that demarcate the lane. The vehicle driving support program according to the present invention stores the point at which the vehicle reaches the support start line as a deviation point, and stores the amount by which the vehicle exceeds the support start line at the deviation point as the deviation amount, and is configured to shift the support start line away from the center of the lane according to the stored deviation amount when the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number of times.

[0015] According to the present invention, it is possible to appropriately prevent the vehicle from deviating from its lane.

[0016] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0017] [Figure 1] Figure 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] Figure 2 shows the first line, etc. [Figure 3] Figure 3 is a flowchart showing the routine executed by a vehicle driving assistance device according to an embodiment of the present invention. [Figure 4] Figure 4 is a flowchart showing the routine executed by a vehicle driving assistance device according to an embodiment of the present invention. [Figure 5] Figure 5 is a flowchart showing the routine executed by a vehicle driving assistance device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0018] Hereinafter, with reference to the drawings, a vehicle driving support device, a vehicle driving support method, and a vehicle driving support program according to embodiments of the present invention will be described. FIG. 1 shows a vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the host vehicle 100. Hereinafter, the case where the operator of the host vehicle 100 is the driver of the host vehicle 100 (that is, the person who rides in the host vehicle 100 and drives the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10. However, the operator of the host vehicle 100 may be a remote operator of the host vehicle 100 (that is, the person who remotely drives the host vehicle 100 without riding in the host vehicle 100).

[0019] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 mainly includes a microcomputer. The microcomputer includes a CPU, a computer-readable storage medium, an interface, and the like. The storage medium is a ROM, a RAM, a non-volatile memory, and the like. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving support device 10 stores a program for realizing various controls executed by the vehicle driving support device 10 in the storage medium.

[0020] In this example, the vehicle driving support device 10 includes only one ECU 90, but it may be configured to include a plurality of ECUs and share the functions of the vehicle driving support device 10 described below among the respective ECUs.

[0021] Also, the vehicle driving support device 10 may be configured to be able to update (update) a program stored in the storage medium by wireless communication (for example, Internet communication) with an external device.

[0022] Furthermore, the vehicle driving support device 10 is applicable not only to vehicles driven manually by an operator but also to vehicles driven automatically in addition to manual driving.

[0023] The host vehicle 100 is equipped with a steering device 21, a steering wheel 22, a steering shaft 23, a steering angle sensor 24, and a steering torque sensor 25.

[0024] The steering device 21 is a device that applies a steering force (steering torque) for steering the host vehicle to the host vehicle 100. Also, the steering wheel 22 is a device operated by a driver to steer the host vehicle 100. The steering wheel 22 is connected to the steering shaft 23. The driver can rotate the steering shaft 23 by rotating the steering wheel 22. The steering angle sensor 24 is a sensor for detecting the steering angle θ. The steering angle θ is the rotation angle of the steering shaft 23 from the neutral position. Also, the steering torque sensor 25 is a sensor for detecting the driver input torque TQdrv. The driver input torque TQdrv is the torque input from the steering wheel 22 to the steering shaft 23 by the driver of the host vehicle 100.

[0025] The steering device 21, the steering angle sensor 24, and the steering torque sensor 25 are electrically connected to the ECU 90. The vehicle driving support device 10 acquires the steering angle θ by the steering angle sensor 24. Also, the vehicle driving support device 10 acquires the driver input torque TQdrv by the steering torque sensor 25. The vehicle driving support device 10 steers the host vehicle 100 by controlling the operation of the steering device 21 according to the acquired steering angle θ and driver input torque TQdrv.

[0026] Furthermore, the host vehicle 100 is equipped with a notification device 30. The notification device 30 includes a display device 31 and an acoustic device 32.

[0027] The display device 31 is a device that displays various images. The display device 31 includes, for example, a display. The display device 31 is electrically connected to the ECU 90. The vehicle driving assistance system 10 displays various images using the display device 31.

[0028] The sound device 32 is a device that outputs various sounds and / or voices. The sound device 32 is equipped with, for example, a speaker. The sound device 32 is electrically connected to the ECU 90. The vehicle driving assistance system 10 outputs various sounds and / or voices through the sound device 32.

[0029] Furthermore, the vehicle 100 is equipped with a surrounding detection device 40, a lateral acceleration sensor 51, a GPS signal receiver 52, and a map database 53.

[0030] The surrounding detection device 40 is a device that detects information about the surroundings of the vehicle 100. The surrounding detection device 40 is equipped with a plurality of image sensors 41 and a plurality of electromagnetic wave sensors 42.

[0031] The image sensor 41 is a sensor that captures images of the area around the vehicle 100. The image sensor 41 is, for example, a camera sensor. The image sensor 41 is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires image data or image information of the area around the vehicle 100 as surrounding information IS using the image sensor 41.

[0032] The electromagnetic wave sensor 42 is a sensor for acquiring information about targets in the vicinity of the vehicle 100. The electromagnetic wave sensor 42 is, for example, a millimeter-wave radar. The electromagnetic wave sensor 42 is electrically connected to the ECU 90. The vehicle driving support system 10 acquires target data or target information about targets in the vicinity of the vehicle 100 as surrounding information IS using the electromagnetic wave sensor 42.

[0033] The lateral acceleration sensor 51 is a sensor for detecting lateral acceleration G. Lateral acceleration G is the lateral acceleration of the vehicle 100. The lateral acceleration sensor 51 is electrically connected to the ECU 90. The vehicle driving support system 10 acquires the lateral acceleration G using the lateral acceleration sensor 51.

[0034] The GPS signal receiver 52 is a device that receives so-called GPS signals. The GPS signal receiver 52 is electrically connected to the ECU 90. The vehicle driving assistance system 10 receives GPS signals via the GPS signal receiver 52. Based on the GPS signals, the vehicle driving assistance system 10 obtains the current position Pnow of its own vehicle 100.

[0035] The map database 53 is a device that stores map information IM. The map database 53 is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires map information IM from the map database 53.

[0036] <Operation of vehicle driver assistance system> Next, the operation of the vehicle driving assistance system 10 will be explained. The vehicle driving assistance system 10 is designed to provide warnings and steering assistance to prevent the vehicle 100 from deviating from lane LN.

[0037] In this example, as shown in Figure 2, the first line L1, the second line L2, and the third line L3 are set along the lane marking LM as the support start line. In this example, the first line L1 is set a predetermined distance (first distance d1) inward from the lane marking LM that demarcates the lane LN. That is, the first line L1 is set within the lane LN. The second line L2 is set on the lane marking LM. The third line L3 is set a predetermined distance (third distance d3) outward from the lane marking LM. That is, the third line L3 is set outside the lane LN. The first distance d1 and the third distance d3 may be the same distance or different distances from each other.

[0038] Note that Figure 2 only shows the first line L1, second line L2, and third line L3 based on the left lane marking LM that demarcates lane LN. However, in this example, the first line L1, second line L2, and third line L3 based on the right lane marking LM that demarcates lane LN are also set.

[0039] The vehicle driving support system 10 then provides steering assistance as steering support when the vehicle 100 reaches the first line L1. The vehicle driving support system 10 determines whether or not the vehicle 100 has reached the first line L1 based on the surrounding information IS. Steering assistance is the process of applying a steering assistance torque TQast to the steering shaft 23. The steering assistance torque TQast is a torque that rotates the steering shaft 23 in a direction that moves the vehicle 100 toward the center of the lane LN. The vehicle driving support system 10 applies the steering assistance torque TQast to the steering shaft 23 by controlling the operation of the steering device 21. The steering assistance torque TQast is set to a value that allows the driver of the vehicle 100 to operate the steering wheel 22 against the steering assistance torque TQast.

[0040] Furthermore, the vehicle driving support system 10 issues a warning when the vehicle 100 reaches the second lane L2. The vehicle driving support system 10 determines whether or not the vehicle 100 has reached the second lane L2 based on the surrounding information IS. The warning informs the driver of the vehicle 100 that the vehicle 100 is about to deviate from lane LN. In this example, the vehicle driving support system 10 issues a warning by outputting a buzzer sound or voice from the sound device 32. Alternatively or in addition to this, the vehicle driving support system 10 issues a warning by displaying a predetermined image on the display device 31.

[0041] Furthermore, when the vehicle 100 reaches the third lane L3, the vehicle driving support system 10 performs lane departure prevention steering as steering assistance. The vehicle driving support system 10 determines whether or not the vehicle 100 has reached the third lane L3 based on the surrounding information IS. Lane departure prevention steering is a process that applies lane departure prevention torque TQdav to the steering shaft 23. Lane departure prevention torque TQdav is a torque that rotates the steering shaft 23 in a direction that moves the vehicle 100 toward the center of lane LN. The vehicle driving support system 10 applies lane departure prevention torque TQdav to the steering shaft 23 by controlling the operation of the steering device 21. The lane departure prevention torque TQdav is set to a value that allows the driver of the vehicle 100 to operate the steering wheel 22 against the lane departure prevention torque TQdav. Also, the lane departure prevention torque TQdav is set to a value greater than the steering assist torque TQast.

[0042] The vehicle driving support system 10 performs the routine shown in Figure 3 at predetermined time intervals, and provides the above-mentioned warning or steering assistance when a predetermined condition is met. Therefore, when the predetermined timing arrives, the vehicle driving support system 10 starts processing from step S300 of the routine shown in Figure 3. Then, the vehicle driving support system 10 proceeds to step S305 and determines whether or not the steering assistance condition C1 has been met. The steering assistance condition C1 is met when the vehicle 100 reaches the first line L1.

[0043] If the vehicle driving support system 10 determines "Yes" in step S305, it proceeds to step S310 and performs steering assistance. Next, the vehicle driving support system 10 proceeds to step S315 and determines whether or not the warning condition C2 has been met. The warning condition C2 is met when the vehicle 100 reaches the second line L2.

[0044] If the vehicle driving support system 10 determines "Yes" in step S315, it proceeds to step S320 and issues a warning. Next, the vehicle driving support system 10 proceeds to step S325 and determines whether the lane departure avoidance steering condition C3 has been met. The lane departure avoidance steering condition C3 is met when the vehicle 100 reaches the third line L3.

[0045] If the vehicle driving assistance system 10 determines "Yes" in step S325, it proceeds to step S330, stops steering assistance, and performs steering to prevent lane departure. Next, the vehicle driving assistance system 10 proceeds to step S395, and terminates the processing of this routine.

[0046] On the other hand, if the vehicle driving support system 10 determines "No" in step S305, it proceeds to step S335 and stops the steering assistance, warning, and lane departure prevention steering that it is currently performing. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0047] Similarly, if the vehicle driving support system 10 determines "No" in step S315, it proceeds to step S335 and stops the steering assistance, warning, and lane departure prevention steering that is currently being performed. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0048] Similarly, if the vehicle driving support system 10 determines "No" in step S325, it proceeds to step S335 and stops the steering assistance, warning, and lane departure prevention steering that is currently being performed. Next, the vehicle driving support system 10 proceeds to step S395 and terminates the processing of this routine.

[0049] Furthermore, at a predetermined timing, the vehicle driving support system 10 starts processing from step S400 of the routine shown in Figure 4. Then, the vehicle driving support system 10 proceeds to step S405 and determines whether or not the support implementation condition C4 has been met. Support implementation condition C4 is met when steering assistance, warning, or departure avoidance steering is performed.

[0050] If the vehicle driving support system 10 determines "Yes" in step S405, it proceeds to step S410 to determine whether or not the emergency steering condition C5 has been met.

[0051] Emergency steering condition C5 is met when the vehicle 100 reaches the first line L1 in order to ensure the safety of the vehicle 100. More specifically, emergency steering condition C5 is met when the lateral acceleration G is greater than or equal to a predetermined value G1 when the vehicle 100 reaches the first line L1. Alternatively, emergency steering condition C5 is met when the driver input torque TQdrv is greater than or equal to a predetermined value TQ1 when the vehicle 100 reaches the first line L1.

[0052] Ensuring the safety of vehicle 100 means, for example, avoiding a collision between vehicle 100 and an obstacle in front of it.

[0053] Furthermore, emergency steering condition C5 is also met when the vehicle 100 reaches the second line L2 in order to ensure the safety of the vehicle 100. More specifically, emergency steering condition C5 is met when the lateral acceleration G is greater than or equal to a predetermined value G2 when the vehicle 100 reaches the second line L2. Alternatively, it is met when the driver input torque TQdrv is greater than or equal to a predetermined value TQ2 when the vehicle 100 reaches the second line L2.

[0054] Furthermore, emergency steering condition C5 is also met when the vehicle 100 reaches the third line L3 in order to ensure the safety of the vehicle 100. More specifically, emergency steering condition C5 is met when the lateral acceleration G is greater than or equal to a predetermined value G3 when the vehicle 100 reaches the third line L3. Alternatively, it is met when the driver input torque TQdrv is greater than or equal to a predetermined value TQ3 when the vehicle 100 reaches the third line L3.

[0055] Furthermore, the predetermined values ​​G1, G2, and G3 may be the same or different. Similarly, the predetermined values ​​TQ1, TQ2, and TQ3 may be the same or different. In addition, the determination of the emergency steering condition C5 may be omitted.

[0056] If the vehicle driving assistance system 10 determines "No" in step S410, it proceeds to step S415 and stores the deviation information ID in the storage medium. Next, the vehicle driving assistance system 10 proceeds to step S495 and terminates the processing of this routine.

[0057] The deviation information ID includes the first position information IP1 and the first deviation amount information ID1 if the vehicle 100 had reached the first line L1 when the support implementation condition C4 was met. The first position information IP1 is information about the position of the point where the vehicle 100 reached the first line L1. The vehicle driving support device 10 stores the information of the current position Pnow of the vehicle 100 when the vehicle 100 reached the first line L1 as the first position information IP1. The first deviation amount information ID1 is information about the distance (first deviation amount D1) by which the vehicle 100 has exceeded the first line L1 to the maximum extent. The vehicle driving support device 10 obtains the first deviation amount D1 based on the surrounding information IS.

[0058] In this manner, the vehicle driving support system 10 stores the point at which the vehicle 100 reaches the first line L1 as the deviation point. The vehicle driving support system 10 also stores the amount by which the vehicle 100 crosses the first line L1 at that deviation point as the first deviation amount D1.

[0059] Furthermore, the deviation information ID includes the second position information IP2 and the second deviation amount information ID2 if the vehicle 100 had reached the second line L2 when the support implementation condition C4 was met. The second position information IP2 is information about the position of the point where the vehicle 100 reached the second line L2. The vehicle driving support system 10 stores the information of the current position Pnow of the vehicle 100 when the vehicle 100 reached the second line L2 as the second position information IP2. Furthermore, the second deviation amount information ID2 is information about the distance (second deviation amount D2) by which the vehicle 100 has exceeded the second line L2 to the maximum extent. The vehicle driving support system 10 acquires the second deviation amount D2 based on the surrounding information IS.

[0060] In this manner, the vehicle driving support system 10 stores the point at which the vehicle 100 reaches the second line L2 as the deviation point. The vehicle driving support system 10 also stores the amount by which the vehicle 100 crosses the second line L2 at that deviation point as the second deviation amount D2.

[0061] Furthermore, the deviation information ID includes the third position information IP3 and the third deviation amount information ID3 if the vehicle 100 had reached the third line L3 when the support implementation condition C4 was met. The third position information IP3 is information about the position of the point where the vehicle 100 reached the third line L3. The vehicle driving support system 10 stores the information of the current position Pnow of the vehicle 100 when the vehicle 100 reached the third line L3 as the third position information IP3. Furthermore, the third deviation amount information ID3 is information about the distance (third deviation amount D3) by which the vehicle 100 has exceeded the third line L3 to the maximum extent. The vehicle driving support system 10 acquires the third deviation amount D3 based on the surrounding information IS.

[0062] In this manner, the vehicle driving support system 10 stores the point at which the vehicle 100 reaches the third line L3 as the deviation point. The vehicle driving support system 10 also stores the amount by which the vehicle 100 crosses the third line L3 at that deviation point as the third deviation amount D3.

[0063] On the other hand, if the vehicle driving assistance system 10 determines "Yes" in step S410, it proceeds directly to step S495 and terminates the processing of this routine. Therefore, if the emergency steering condition C5 is met, the deviation information ID is not stored.

[0064] Furthermore, if the vehicle driving assistance device 10 determines "No" in step S405, it proceeds directly to step S495 and terminates the processing of this routine.

[0065] Furthermore, at a predetermined timing, the vehicle driving support system 10 starts processing from step S500 of the routine shown in Figure 5. Then, the vehicle driving support system 10 proceeds to step S505 and determines whether the first correction condition CC1 is met. The first correction condition CC1 is met when the vehicle 100 is traveling through the first deviation point PD1 and the first deviation count ND1 is equal to or greater than a predetermined number (first count N1). The first deviation point PD1 is the point indicated by the first position information IP1 stored in the storage medium. The first deviation count ND1 is the number of times the vehicle 100 has reached the first line L1 at the first deviation point PD1.

[0066] If the vehicle driving support system 10 determines "Yes" in step S505, it proceeds to step S510 to perform the first line correction setting. Next, the vehicle driving support system 10 proceeds to step S515.

[0067] The first line correction setting is the process of setting the first line L1 to a position corrected according to the first deviation amount D1 stored in the storage medium. In other words, the first line correction setting is the process of shifting the first line L1 away from the center of the lane LN according to the first deviation amount D1. In this example, the first line correction setting is the process of setting the first line L1 to a position displaced outward from the first reference position P1 according to the maximum value of the first deviation amount D1. In particular, the first line correction setting is the process of setting the first line L1 to a position displaced outward from the first reference position P1 as the maximum value of the first deviation amount D1 increases. An upper limit may be set on the amount by which the first line L1 is displaced from the first reference position P1.

[0068] In this example, "outside" refers to the side away from the center of lane LN. The first deviation amount D1 is stored in association with the first position information IP1, which indicates the current location of the vehicle 100. The first reference position P1 is the position of the first line L1, which is set when the vehicle 100 is traveling at a location other than the one indicated by the first position information IP1.

[0069] When the vehicle driving support device 10 proceeds to step S515, it determines whether the second correction condition CC2 is met. The second correction condition CC2 is met when the vehicle 100 is traveling through the second deviation point PD2 and the second deviation count ND2 is equal to or greater than a predetermined number (second count N2). The second deviation point PD2 is the point indicated by the second position information IP2 stored in the storage medium. The second deviation count ND2 is the number of times the vehicle 100 has reached the second line L2 at the second deviation point PD2.

[0070] If the vehicle driving support system 10 determines "Yes" in step S515, it proceeds to step S520 to perform the second line correction setting. Next, the vehicle driving support system 10 proceeds to step S525.

[0071] The second line correction setting is the process of setting the second line L2 to a position corrected according to the second deviation amount D2 stored in the storage medium. In other words, the second line correction setting is the process of shifting the second line L2 away from the center of the lane LN according to the second deviation amount D2. In this example, the second line correction setting is the process of setting the second line L2 to a position displaced outward from the second reference position P2 according to the maximum value of the second deviation amount D2. In particular, the second line correction setting is the process of setting the second line L2 to a position displaced outward from the second reference position P2 as the maximum value of the second deviation amount D2 increases. An upper limit may be set on the amount by which the second line L2 is displaced from the second reference position P2.

[0072] Furthermore, the second deviation amount D2 is stored in association with the second location information IP2, which indicates the current location of the vehicle 100. In addition, the second reference position P2 is the position of the second line L2, which is set when the vehicle 100 is traveling at a location other than the one indicated by the second location information IP2.

[0073] When the vehicle driving support device 10 proceeds to step S525, it determines whether the third correction condition CC3 is met. The third correction condition CC3 is met when the vehicle 100 is traveling through the third deviation point PD3 and the third deviation count ND3 is equal to or greater than a predetermined number (third count N3). The third deviation point PD3 is the point indicated by the third position information IP3 stored in the storage medium. The third deviation count ND3 is the number of times the vehicle 100 has reached the third line L3 at the third deviation point PD3.

[0074] Furthermore, the first count N1, the second count N2, and the third count N3 may be the same value or may be different values.

[0075] If the vehicle driving support system 10 determines "Yes" in step S525, it proceeds to step S530 to perform the third line correction setting. Next, the vehicle driving support system 10 proceeds to step S595 to terminate the processing of this routine.

[0076] The third line correction setting is the process of setting the third line L3 to a position corrected according to the third deviation amount D3 stored in the storage medium. In other words, the third line correction setting is the process of shifting the third line L3 away from the center of the lane LN according to the third deviation amount D3. In this example, the third line correction setting is the process of setting the third line L3 to a position displaced outward from the third reference position P3 according to the maximum value of the third deviation amount D3. In particular, the third line correction setting is the process of setting the third line L3 to a position displaced outward from the third reference position P3 as the maximum value of the third deviation amount D3 increases. An upper limit may be set on the amount by which the third line L3 is displaced from the third reference position P3.

[0077] Furthermore, the third deviation amount D3 is stored in association with the third location information IP3, which indicates the current location of the vehicle 100. In addition, the third reference position P3 is the position of the third line L3, which is set when the vehicle 100 is traveling at a location other than the one indicated by the third location information IP3.

[0078] On the other hand, if the vehicle driving support system 10 determines "No" in step S505, it proceeds to step S535 and performs the first line setting. Next, the vehicle driving support system 10 proceeds to step S595 and terminates the processing of this routine.

[0079] The first line setting is the process of setting the first line L1 at the first reference position P1, setting the second line L2 at the second reference position P2, and setting the third line L3 at the third reference position P3.

[0080] Furthermore, if the vehicle driving support system 10 determines "No" in step S515, it proceeds to step S540 to perform the second line setting. Next, the vehicle driving support system 10 proceeds to step S595 to temporarily terminate the processing of this routine.

[0081] The second line setting process involves setting the second line L2 at the second reference position P2 and setting the third line L3 at the third reference position P3.

[0082] Furthermore, if the vehicle driving support system 10 determines "No" in step S525, it proceeds to step S545 to perform the third line setting. Next, the vehicle driving support system 10 proceeds to step S595 to terminate the processing of this routine.

[0083] Setting the third line is the process of setting the third line L3 at the third reference position P3.

[0084] Furthermore, the vehicle driving support system 10 may be configured to perform a first line correction setting and a second line correction setting when the first correction condition CC1 is met. In this case, the vehicle driving support system 10 does not need to determine whether or not the second correction condition CC2 is met. Also, in this case, the vehicle driving support system 10 does not need to store the second position information IP2. Also, in this case, the vehicle driving support system 10 may perform the second line correction setting using the first deviation amount D1 instead of the second deviation amount D2. In this case, the vehicle driving support system 10 does not need to store the second deviation amount information ID2.

[0085] Furthermore, the vehicle driving support system 10 may be configured to perform the first line correction setting and the third line correction setting when the first correction condition CC1 is met. In this case, the vehicle driving support system 10 does not need to determine whether or not the third correction condition CC3 is met. Also, in this case, the vehicle driving support system 10 does not need to store the third position information IP3. Also, in this case, the vehicle driving support system 10 may perform the third line correction setting using the first deviation amount D1 instead of the third deviation amount D3. In this case, the vehicle driving support system 10 does not need to store the third deviation amount information ID3.

[0086] Furthermore, the vehicle driving support system 10 may be configured to perform the second line correction setting and the third line correction setting when the second correction condition CC2 is met. In this case, the vehicle driving support system 10 does not need to determine whether or not the third correction condition CC3 is met. Also, in this case, the vehicle driving support system 10 does not need to store the third position information IP3. Also, in this case, the vehicle driving support system 10 may perform the third line correction setting using the second deviation amount D2 instead of the third deviation amount D3. In this case, the vehicle driving support system 10 does not need to store the third deviation amount information ID3.

[0087] Furthermore, the determination of whether or not the first correction condition CC1 is met may be omitted. In this case, the vehicle driving support device 10 is configured to set the first line L1 to a position corrected according to the second deviation amount D2 when the second correction condition CC2 is met. Alternatively, the vehicle driving support device 10 is configured to set the first line L1 to a position corrected according to the third deviation amount D3 when the third correction condition CC3 is met. In this case, the vehicle driving support device 10 does not need to store the first position information IP1 and the first deviation amount information ID1.

[0088] Furthermore, the deviation information ID may be stored for each driver. In this case, the first line correction settings, etc., are performed for each driver.

[0089] The above describes the operation of the vehicle driving assistance system 10. According to the vehicle driving assistance system 10, at a point where the driver of the vehicle 100 voluntarily deviates from lane LN and drives the vehicle 100, warnings or steering assistance are less likely to be issued. Therefore, the possibility of causing annoyance to the driver by issuing unnecessary warnings or steering assistance can be reduced. Accordingly, deviation of the vehicle 100 from lane LN can be appropriately prevented.

[0090] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0091] 10...Vehicle driving assistance system, 21...Steering system, 30...Notification system, 40...Surroundings detection system, 90...ECU, 100...Own vehicle

Claims

1. It is equipped with a control device that provides warnings or steering assistance to prevent the vehicle from deviating from its lane, The control device is configured to initiate the warning or steering assistance when the vehicle reaches the assistance start line set along the lane markings that demarcate the lane. In a vehicle driving assistance system, The control device is The system stores the point at which the vehicle reaches the support start line as the deviation point, and stores the amount by which the vehicle crosses the support start line at the deviation point as the deviation amount. If the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number, the support start line is shifted away from the center of the lane according to the stored amount of deviation. It is structured in such a way. Vehicle driving assistance system.

2. In the vehicle driving support device according to claim 1, The control device is configured such that, when the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point exceeds a predetermined number of times, the larger the stored deviation amount, the greater the amount the support start line is shifted away from the center of the lane. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 1 or claim 2, The control device is configured not to store the point at which the vehicle crosses the support start line in order to ensure the safety of the vehicle, nor to store the amount by which the vehicle crosses the support start line at that point. Vehicle driving assistance system.

4. A vehicle driving assistance method that provides warnings or steering assistance to prevent the vehicle from deviating from its lane, wherein the warning or steering assistance is initiated when the vehicle reaches a support start line set along the lane markings, The process includes storing the point at which the vehicle reaches the support start line as the deviation point, and storing the amount by which the vehicle crosses the support start line at the deviation point as the deviation amount, If the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number of times, the process of shifting the support start line away from the center of the lane according to the stored amount of deviation, A vehicle driving assistance method having [a certain feature].

5. A vehicle driving assistance program that provides warnings or steering assistance to prevent the vehicle from deviating from its lane, In a vehicle driving assistance program configured to initiate the warning or steering assistance when the vehicle reaches an assistance start line set along the lane markings that demarcate the lane, The system stores the point at which the vehicle reaches the support start line as the deviation point, and stores the amount by which the vehicle crosses the support start line at the deviation point as the deviation amount. If the vehicle is traveling at the deviation point and the number of times the vehicle has reached the support start line at the deviation point is greater than or equal to a predetermined number, the support start line is shifted away from the center of the lane according to the stored amount of deviation. A vehicle driver assistance program configured in such a way.

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