Driving assistance device, driving assistance method, and program

Abstract

The present invention provides a driver assistance system that can reduce the possibility of a collision between the vehicle and a vehicle approaching from behind when such a vehicle is present. [Solution] When the driving assistance device detects that the vehicle may deviate from the driving area in which it is traveling, or when the vehicle has deviated from the driving area, it performs deviation control, which is at least one of a deviation warning to inform the driver of the deviation from the driving area and a vehicle control to control the vehicle to prevent the vehicle from deviating from the driving area. When the driving assistance device detects that the steering index value related to the steering operation performed by the driver is above a threshold value during the execution of deviation control, it does not perform deviation control, and when there is a vehicle approaching from behind in the driving area, it makes it more difficult for the override condition to be met compared to when there is no vehicle approaching from behind.

Description

Technical Field

[0001] The present invention relates to a driving support device that executes at least one of vehicle controls for deviation control to notify a driver of deviation from a driving area and to prevent the host vehicle from deviating from the driving area, a driving support method in which a computer mounted on the host vehicle executes deviation control, and a program that causes a computer mounted on the host vehicle to execute deviation control.

Background Art

[0002] Conventionally, a driving support device that executes deviation control is known when there is a possibility that the host vehicle may deviate from a driving area or when the host vehicle has deviated from the driving area. For example, a driving support device described in Patent Document 1 (hereinafter referred to as the "conventional device") interrupts the above deviation control when an override condition indicating that there has been a steering intervention by the driver is satisfied.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] When there is a rear approaching vehicle that travels behind the host vehicle and approaches the host vehicle in the driving area where the host vehicle is traveling, the rear approaching vehicle may change lanes to overtake the host vehicle. If the driver of the host vehicle changes lanes without noticing such a rear approaching vehicle, there is a possibility of deviating from the driving area, so deviation control is executed. If the driver continues to perform a steering operation for lane change even after the deviation control is executed, the conventional device is highly likely to interrupt the deviation control by determining that there has been a steering intervention. If the deviation control is interrupted under such circumstances, there is a possibility of a collision between the host vehicle and the rear approaching vehicle.

[0005] This invention was made to address the aforementioned problems. Specifically, one of the objectives of this invention is to provide a driver assistance device that can reduce the possibility of a collision between the vehicle and a vehicle approaching from behind when such a vehicle is present.

[0006] The driver assistance device of the present invention (hereinafter referred to as "the device of the present invention") executes a departure control as follows: when there is a possibility that the vehicle (SV) will deviate from the driving area (TA) in which the vehicle is traveling, or when the vehicle has deviated from the driving area (step 310 "Yes"), at least one of the following is executed as a departure control: a departure warning to inform the driver of the departure from the driving area and a vehicle control to control the driving state of the vehicle in order to prevent the vehicle from deviating from the driving area (step 340). The aforementioned driving support device, If the override condition is met (step 335 "Yes"), such that the steering index value related to the steering operation performed by the driver during the execution of the deviation control is greater than or equal to a threshold, the deviation control is interrupted or terminated (step 350). If a rear-approaching vehicle (RV) is present in the driving area approaching the vehicle from behind (Step 405 "Yes"), the override condition is made less likely to be met (Step 415) compared to when there is no rear-approaching vehicle (Step 405 "No"). It is structured in this way.

[0007] According to the present invention, when a vehicle is approaching from behind, the override condition is less likely to be met compared to when there is no vehicle approaching from behind. The vehicle approaching from behind is highly likely to change lanes in order to overtake the vehicle. According to the present invention, the possibility of lane departure control being interrupted when the driver of the vehicle changes lanes without noticing (or having done) a lane change made by the vehicle approaching from behind is reduced. Therefore, the possibility of a collision between the vehicle and the vehicle approaching from behind can be reduced. [Brief explanation of the drawing]

[0008] [Figure 1]This is a schematic system configuration diagram of a driver assistance device according to an embodiment of the present invention. [Figure 2] This is an explanatory diagram illustrating an example of the operation of a driver assistance device according to an embodiment of the present invention. [Figure 3] Figure 1 is a flowchart of the deviation control routine executed by the CPU of the ECU. [Figure 4] Figure 1 is a flowchart of the threshold angle setting subroutine executed by the CPU of the ECU. [Figure 5] This is a flowchart of the deviation control routine executed by the CPU of the ECU of a driver assistance device according to a first modified embodiment of the present invention. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the driver assistance device 10 according to this embodiment (hereinafter referred to as "this device 10") is applied to the vehicle SV and comprises the components shown in Figure 1.

[0010] In this specification, "ECU20" is an electronic control unit comprising a microcomputer as its main component. ECU20 is also referred to as a control unit, controller, and computer. The microcomputer includes a CPU (processor), ROM, RAM, and interfaces, etc. The functions realized by ECU20 may be realized by multiple ECUs.

[0011] The front camera 22 acquires front image data by capturing the scenery in front of the vehicle SV. The rear camera 24 acquires rear image data by capturing the scenery behind the vehicle SV. The ECU 20 acquires front image data and rear image data from the front camera 22 and the rear camera 24, respectively.

[0012] The vehicle speed sensor 28 detects the vehicle speed Vs, which represents the speed of the vehicle SV. The yaw rate sensor 30 detects the yaw rate Yr of the vehicle SV. The steering angle sensor 30 detects the steering angle θ of the steering wheel SW (see Figure 2). If the steering wheel SW is steered to the right of the neutral position of the steering wheel SW, the steering angle θ will be a negative value, and if the steering wheel SW is steered to the left of the neutral position, the steering angle θ will be a positive value. The steering torque sensor 32 detects the steering torque Tr of the steering wheel SW. The acceleration sensor 34 detects the acceleration Gx in the longitudinal axis direction and the acceleration Gy in the vehicle width direction of the vehicle SV. The ECU 20 acquires the detected values ​​from these sensors.

[0013] The vehicle-to-vehicle communication interface (I / F) 38 is an interface for vehicle-to-vehicle communication between the vehicle SV and other vehicles.

[0014] The steering motor 40 is incorporated into the steering mechanism 42. The steering mechanism 42 is a mechanism for steering the steering wheels in response to the operation of the steering wheel switch. The steering motor 40, in response to instructions from the ECU 20, generates assist torque in the steering mechanism 42 to assist the operation of the steering wheel switch and generates automatic steering torque in the steering mechanism 42 to change the steering angle of the steering wheels.

[0015] The display device 44 displays the deviation warning screen, which will be described later. The speaker 46 emits the deviation warning sound, which will be described later.

[0016] <Deviation Control> The deviation control will be explained below with reference to Figure 2. The ECU20 recognizes the boundary BL (right boundary RBL and left boundary LBL) of the driving area TA in which the vehicle SV is traveling, based on the previous image data. Examples of boundary BL include white lines on the road, guardrails, curbs, and walls. The ECU20 sets reference lines RL (right reference line RRL and left reference line LRL) at a predetermined reference distance Dref inside the driving area TA from the boundary BL in a direction perpendicular to the boundary BL.

[0017] When any of the following condition E1 and condition E2 is satisfied, the ECU 20 determines that the execution condition is satisfied and executes deviation control. Condition E1: The path distance Dpr along the predicted path PR of the host vehicle SV is less than or equal to a predetermined threshold distance Dth and the predicted path PR intersects the reference line RL. (When this condition E1 is satisfied, the ECU 20 determines that the host vehicle SV may deviate from the travel area TA.) Condition E2: A part or all of the vehicle body of the host vehicle SV has deviated from the reference line RL. As an example, the ECU 20 obtains the predicted path PR based on the host vehicle speed Vs and the yaw rate Yr.

[0018] In the present embodiment, as deviation control, the ECU 20 executes vehicle control for controlling the running state (steering angle of the steering wheel) of the host vehicle SV so that the host vehicle SV does not deviate from the travel area TA. Specifically, the ECU 20 obtains a deviation suppression steering angle θdev for preventing the host vehicle SV from deviating from (or having deviated from) the reference line RL where the host vehicle SV is likely to deviate (i.e., for returning the host vehicle SV to the inside of the reference line RL). The ECU 20 controls the steering motor 40 so that the steering angle θ matches the deviation suppression steering angle θdev.

[0019] When the override condition is satisfied, the ECU 20 interrupts the deviation control. As an example, the override condition is satisfied when the magnitude of the steering angle θ (|θ|) is greater than or equal to the threshold angle θth.

[0020] (Outline of operation) When there is a rear approaching vehicle RV that travels behind the host vehicle SV in the same travel area TA as the host vehicle SV and approaches the host vehicle SV, the ECU 20 makes it difficult for the override condition to be satisfied compared to the case where there is no rear approaching vehicle RV.

[0021] For example, the ECU20 sets the threshold angle θth to the first threshold angle θ1th if there is no vehicle approaching from behind (RV), and sets the threshold angle θth to the "second threshold angle θ2th, which is larger than the first threshold angle θ1th" if there is a vehicle approaching from behind (RV).

[0022] The aforementioned vehicle RV approaching from behind is highly likely to change lanes in order to overtake the vehicle SV (see the arrow shown in Figure 2). In such a case, if the vehicle SV changes lanes, the execution condition will eventually be met and lane departure control will be executed. Even after the execution of lane departure control, if the driver continues to perform steering operations to change lanes, the magnitude of the steering angle θ will become larger than the threshold angle θth, and the override condition will likely be met.

[0023] According to this embodiment, when a rear approaching vehicle (RV) is present, the override condition is less likely to be met compared to when there is no rear approaching vehicle (RV). Therefore, even if the driver continues to perform steering maneuvers to change lanes after the departure control is executed, the override condition is less likely to be met. As a result, the likelihood of the departure control continuing to be executed increases, and the possibility of a collision between the vehicle SV and the rear approaching vehicle (RV) can be reduced.

[0024] (Example of operation) At time t1 shown in Figure 2, the driver of the vehicle SV begins steering the steering wheel SW to the right, and the vehicle SV begins changing lanes to the right lane of the driving area TA. Since the execution conditions are not yet met at time t1, lane departure control is not performed.

[0025] At time t2, the execution condition is met, and ECU20 starts deviation control. A rear approaching vehicle RV is present. Therefore, ECU20 makes it difficult to meet the override condition by setting the threshold angle θth to the second threshold angle θth2.

[0026] (Specific operation) <Deviation Control> The CPU of ECU20 executes the routine shown in the flowchart in Figure 3 at predetermined intervals.

[0027] When the appropriate time arrives, the CPU starts processing from step 300 in Figure 3, and in step 305, it determines whether the value of the execution flag Xexe is "0". The value of the execution flag Xexe is set to "1" if the execution condition is met, and to "0" if the termination condition is met. The value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when the ignition key switch (not shown) of the vehicle SV is changed from the off position to the on position.

[0028] If the value of the execution flag Xexe is "0", the CPU determines "Yes" in step 305, and the process proceeds to step 310. In step 310, the CPU determines whether the execution condition is met by determining whether either of the above conditions E1 or E2 is met.

[0029] If the execution conditions are not met, the CPU determines "No" in step 310, and the process proceeds to step 395. In step 395, the CPU terminates this routine. On the other hand, if the execution conditions are met, the CPU determines "Yes" in step 310, and the process proceeds to step 315. In step 315, the CPU sets the value of the execution flag Xexe to "1". After that, the process proceeds to step 395, and the CPU terminates this routine.

[0030] If the execution flag Xexe is set to "1" when the process proceeds to step 305, the CPU determines "No" in step 305, and the process proceeds to step 320. In step 320, the CPU determines whether the termination condition has been met. For example, the CPU determines that the termination condition has been met if a predetermined termination time Tend has elapsed since the execution condition was met.

[0031] If the termination condition is not met, the CPU determines "No" in step 320, and the process proceeds to step 325. In step 325, the CPU determines whether the value of the override flag Xovr is "0".

[0032] The override flag Xovr is set to "1" when the override condition is met, and to "0" when a predetermined time has elapsed since the override condition was met, or when the termination condition is met. The override flag Xovr is also set to "0" in the initial routine.

[0033] If the value of the override flag Xovr is "0", the CPU determines "Yes" in step 325 and executes steps 330 and 335. The process proceeds to step 330. Step 330: The CPU executes a threshold angle setting subroutine (see Figure 4) to set the threshold angle θth. Details of the threshold angle setting subroutine will be described later. Step 335: The CPU determines whether the magnitude of the steering angle θ (|θ|) is greater than or equal to the threshold angle θth (i.e., whether the override condition is met).

[0034] If the magnitude of the steering angle θ (|θ|) is less than the threshold angle θth (i.e., the override condition is not met), the CPU determines "No" in step 335, and the process proceeds to step 340.

[0035] In step 340, the CPU sets the target steering angle θtgt to the deviation suppression steering angle θdev and controls the steering motor 40 so that the steering angle θ matches the target steering angle θtgt. The process then proceeds to step 395, and the CPU terminates this routine.

[0036] When the process proceeds to step 335, if the magnitude of the steering angle θ (|θ|) is greater than or equal to the threshold angle θth (i.e., the override condition is met), the CPU determines "Yes" in step 335 and executes steps 345 and 350.

[0037] Step 345: The CPU sets the target steering angle θtgt to the "manual steering angle θman corresponding to the steering angle θ" and controls the steering motor 40 so that the steering angle θ matches the target steering angle θtgt. As a result, the steering angle of the vehicle's steering wheels is controlled according to the manual steering angle θman, which is determined by the driver's steering operation, rather than the deviation suppression steering angle θdev. Therefore, if the override condition is met, the deviation control is interrupted. After that, the process proceeds to step 395, and the CPU terminates this routine.

[0038] If the value of the override flag Xovr is "1" when the process proceeds to step 325, the CPU determines "No" in step 325, and the process proceeds to step 355. In step 355, the CPU determines whether a predetermined time has elapsed since the override condition was met. For example, this predetermined time is set to a value shorter than the end time Tend.

[0039] If the predetermined time has not elapsed since the condition was met, the CPU determines "No" in step 355, and the process proceeds to step 350. On the other hand, if the predetermined time has elapsed since the condition was met, the CPU determines "Yes" in step 355, and the process proceeds to step 360. In step 360, the CPU sets the value of the override flag Xovr to "0". After that, the process proceeds to step 340.

[0040] If the termination condition is met when the process proceeds to step 320, the CPU determines "Yes" in step 320, and the process proceeds to step 365. In step 365, the CPU sets the value of the execution flag Xexe to "0" and the value of the override flag Xovr to "0". After that, the process proceeds to step 395, and the CPU terminates this routine.

[0041] <Threshold angle setting> When the process proceeds to step 330 in Figure 3, the CPU starts processing from step 400 in Figure 4, and the process proceeds to step 405. In step 405, the CPU determines whether or not there is a rear approaching RV based on the rear image data.

[0042] If there are no approaching vehicles (RVs) from behind, the CPU determines "No" in step 405, and the process proceeds to step 410. In step 410, the CPU sets the threshold angle θth to the first threshold angle θth1. After that, the process proceeds to step 495, and the CPU terminates this routine.

[0043] If a rearward approaching vehicle (RV) is detected, the CPU determines "Yes" in step 405, and the process proceeds to step 415. In step 415, the CPU sets the threshold angle θth to "a second threshold angle θth2 that is greater than the first threshold angle θth1". The process then proceeds to step 495, and the CPU terminates this routine.

[0044] As explained above, according to this embodiment, when a rear approaching vehicle RV is present, the override conditions (specifically, the override conditions on both sides) are less likely to be met compared to when there is no rear approaching vehicle RV. This reduces the possibility of a collision between the vehicle SV and the rear approaching vehicle RV.

[0045] (First variation) In this modified example, the ECU20 acquires the magnitude of a steering angle θ with a negative value as the right steering angle θR, and the magnitude of a steering angle θ with a positive value as the left steering angle θL. The ECU20 determines that the override condition is met if the right steering angle θR is greater than or equal to the right threshold angle θRth (when the right override condition is met), or if the left steering angle θL is greater than or equal to the left threshold angle θLth (when the left override condition is met).

[0046] If there is no vehicle approaching from behind, the ECU20 sets the right threshold angle θRth and the left threshold angle θLth to the first right threshold angle θRth1 and the first left threshold angle θLth1, respectively.

[0047] If a vehicle RV is approaching from behind and intends to change lanes to the right, the ECU 20 sets the right threshold angle θRth to "the second right threshold angle θRth2, which is greater than the first right threshold angle θRth1," and sets the left threshold angle θLth to "the first left threshold angle θLth1." If the vehicle RV is approaching from behind and intends to change lanes to the left, the ECU 20 sets the left threshold angle θLth to "the second left threshold angle θLth2, which is greater than the first left threshold angle θLth1," and sets the right threshold angle θRth to "the first right threshold angle θRth1." In other words, when a vehicle RV is approaching from behind and intends to change lanes, the ECU 20 makes it more difficult for the override condition for the vehicle RV's lane change destination to be met compared to when there is no vehicle RV approaching from behind.

[0048] The ECU20 makes it difficult to satisfy the override condition only on the side where the vehicle SV is most likely to collide with the vehicle RV approaching from behind. This reduces the probability of the vehicle SV colliding with the vehicle RV approaching from behind. Furthermore, if the driver steers the vehicle SV towards the side where the probability of collision with the vehicle RV approaching from behind is low, the override condition will be satisfied as usual, thus reducing the possibility of causing discomfort to the driver.

[0049] When a rear approaching vehicle RV does not intend to change lanes and there is an overtaking lane adjacent to the driving area TA, the ECU20 increases the threshold angle θth on the overtaking lane side of the right threshold angle θRth and left threshold angle θLth compared to when there is no rear approaching vehicle RV. In countries with left-hand traffic, the overtaking lane is to the right of the driving area TA, so the ECU20 sets the right threshold angle θRth to the second right threshold angle θRth2. In countries with right-hand traffic, the overtaking lane is to the left of the driving area TA, so the ECU20 sets the left threshold angle θLth to the second left threshold angle θLth2. The following explanation assumes a left-hand traffic country.

[0050] A rear-approaching vehicle (RV) may suddenly change lanes without indicating an intention to do so. In such cases, the rear-approaching RV is likely to change lanes towards the overtaking lane. If the rear-approaching RV does not intend to change lanes, the ECU20 makes it less likely for the overtaking lane override condition to be met, thereby reducing the possibility of causing discomfort to the driver and reducing the possibility of a collision between the vehicle SV and the rear-approaching RV.

[0051] In this modified example, the CPU of ECU20 executes the threshold angle setting subroutine shown in Figure 5 instead of the threshold angle setting subroutine shown in Figure 4.

[0052] When the process proceeds to step 330 in Figure 3, the CPU starts processing from step 500 in Figure 5. In step 505, the CPU determines whether or not there is an approaching RV from behind.

[0053] If there are no approaching vehicles (RVs) from behind, the CPU determines "No" in step 505, and the process proceeds to step 510. In step 510, the CPU sets the right threshold angle θRth to the first right threshold angle θRth1 and the left threshold angle θLth to the first left threshold angle θLth1. After step 510 is executed, the process proceeds to step 595, and the CPU terminates this routine. Subsequently, the process proceeds to step 335 in Figure 3, where the CPU determines whether either the right override condition (that the right steering angle θR is greater than or equal to the right threshold angle θRth) or the left override condition (that the left steering angle θL is greater than or equal to the left threshold angle θLth) is met.

[0054] If either the right override condition or the left override condition is met, the CPU determines "Yes" in step 335. If neither the right override condition nor the left override condition is met, the CPU determines "No" in step 335.

[0055] If a rear approaching vehicle RV is present when the process proceeds to step 505, the CPU determines "Yes" in step 505, and the process proceeds to step 515. In step 515, the CPU determines whether the rear approaching vehicle RV intends to change lanes. For example, if the CPU determines, based on rear image data, that the turn signal of the rear approaching vehicle RV is activated, it determines that the rear approaching vehicle RV intends to change lanes. As another example, if the lateral speed of the rear approaching vehicle RV, obtained based on multiple rear image data, is greater than or equal to a threshold speed, the CPU determines that the rear approaching vehicle RV intends to change lanes. Lateral acceleration may be used instead of lateral speed. Furthermore, as yet another example, if the vehicle-to-vehicle communication I / F38 receives a "lane change signal indicating that a lane change is about to be made" from the rear approaching vehicle RV, the CPU determines that the rear approaching vehicle RV intends to change lanes.

[0056] If the approaching RV vehicle intends to change lanes, the CPU determines "Yes" in step 515, and the process proceeds to step 520. In step 520, the CPU determines whether the approaching RV vehicle intends to change lanes to the right.

[0057] If the direction of the lane change is to the right, the CPU determines "Yes" in step 520, and the process proceeds to step 525. In step 525, the CPU sets the right threshold angle θRth to the second right threshold angle θRth2 and the left threshold angle θLth to the first left threshold angle θLth1. After that, the process proceeds to step 595, where the CPU terminates this routine and executes step 335 in Figure 3.

[0058] If the direction of the lane change is to the left, the CPU determines "No" in step 520, and the process proceeds to step 530. In step 530, the CPU sets the right threshold angle θRth to the first right threshold angle θRth1 and the left threshold angle θLth to the second left threshold angle θLth2. After that, the process proceeds to step 595, where the CPU terminates this routine and executes step 335 in Figure 3.

[0059] If there are no approaching vehicles RV from behind when the process proceeds to step 515, the CPU determines "No" in step 515, and the process proceeds to step 535. In step 535, the CPU determines, based on the previous image data, whether or not there is an overtaking lane to the right of the driving area TA. An overtaking lane is a lane adjacent to the driving area TA, in which driving in the same direction as the vehicle SV is permitted.

[0060] If an overtaking lane exists, the CPU determines "Yes" in step 535, and the process proceeds to step 525. If an overtaking lane does not exist, the CPU determines "No" in step 535, and the process proceeds to step 510.

[0061] As described above, this modified version makes it difficult to satisfy only the override condition on the side where the rear approaching vehicle RV is likely to change lanes, thereby reducing the possibility of causing discomfort to the driver and reducing the possibility of the vehicle SV colliding with the rear approaching vehicle RV.

[0062] Furthermore, it may be made easier to satisfy the override condition for the lane that the approaching vehicle RV is not changing lanes to (or the lane opposite to the overtaking lane). When the approaching vehicle RV overtakes the vehicle SV, the driver of the vehicle SV may intentionally steer in the opposite direction from the approaching vehicle RV that is attempting to overtake the vehicle SV. If lane departure control is activated during such steering, the lane departure control will be stopped immediately, thus reducing the possibility that the lane departure control may cause discomfort to the driver.

[0063] Furthermore, if the CPU determines "No" in step 505, it may determine whether or not there is an overtaking lane adjacent to the driving area TA, and proceed to step 515 only if an overtaking lane exists.

[0064] (Second variation) The ECU20 may perform a lane departure warning as lane departure control instead of vehicle control, or it may perform both vehicle control and lane departure warning as lane departure control. In other words, the ECU20 performs at least one of vehicle control and lane departure warning as lane departure control.

[0065] In the case of a departure warning, the ECU 20 displays a departure warning screen on the display device 44 to inform the driver that the vehicle SV may deviate from the driving area TA (or has deviated). The ECU 20 may also emit a departure warning sound from the speaker 46 to inform the driver that the vehicle SV may deviate from the driving area TA (or has deviated).

[0066] (Third variation) ECU20 makes it more difficult for the override condition to be met by increasing the threshold angles θth (right threshold angle θRth and left threshold angle θLth), but is not limited to this. For example, in order to make it more difficult for the override condition to be met, ECU20 may make the steering angle θ compared with the threshold angle θth smaller than the actual steering angle θth. Specifically, ECU20 uses a value obtained by multiplying the actual steering angle θ by a weighting coefficient α (0 ≤ α < 1) as the steering angle θ compared with the threshold angle θth.

[0067] (Fourth variation) The ECU20 determines that the override condition is met if the steering angle θ is greater than or equal to the threshold angle θth, but is not limited to this. Instead of the steering angle θ, at least one of the following may be used: steering torque Tr, steering angular velocity, steering angle of the steering wheel, steering angular velocity, lateral velocity of the vehicle SV, and lateral acceleration Gy of the vehicle SV. These values ​​are related to the steering operation performed by the driver and are also referred to as steering index values.

[0068] (Fifth variation) The ECU20 determines that the termination condition has been met when a predetermined termination time Tend has elapsed since the execution condition was met, but is not limited to this. For example, the ECU20 may determine that the termination condition has been met when its own vehicle SV is positioned inside the "termination reference line set to be inside the reference line RL". As another example, the ECU20 may determine that the termination condition has been met when the predicted path PR no longer intersects the reference line RL or the termination reference line.

[0069] (Sixth variation) If the override condition is met, ECU20 may terminate the deviation control by setting the value of the execution flag Xexe to "0".

[0070] (Seventh variation) The ECU 20 may set the reference line RL outside the boundary BL. The device 10 may be equipped with a sensor (such as Lidar, millimeter-wave radar, and sonar) capable of detecting objects on the vehicle SV instead of the rear camera 24.

[0071] The device 10 is applicable to vehicles such as engine-powered vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. Furthermore, the device 10 is applicable to autonomous vehicles. Moreover, the present invention can also be considered as a non-temporary storage medium on which a program for realizing the functions of the device 10 is stored and which is readable by a computer. [Explanation of symbols]

[0072] 10...Driving assistance system, 20...ECU, 22...Front camera, 24...Rear camera, 40...Steering motor, 44...Display device, 46...Speaker.

Claims

1. In a driver assistance system that, when there is a possibility that the vehicle may deviate from the lane in which it is traveling, or when the vehicle deviates from the lane, executes at least one of the following as deviation control: a departure warning to the driver and vehicle control that controls the driving state of the vehicle, The aforementioned driving support device, If an override condition is met during the execution of the aforementioned deviation control, which is a condition that is set by the driver's operation, the deviation control is suppressed. When a vehicle is approaching the vehicle from behind in the same lane, the lane departure control is made more difficult to perform compared to when there is no vehicle approaching from behind. A driver assistance system configured in such a way.

2. In the driving support device according to Claim 1, The aforementioned driving support device, When the aforementioned vehicle approaching from behind is present, the system is configured to make it more difficult to perform the departure control by making it more difficult to satisfy the override condition compared to when the vehicle approaching from behind is not present. Driving assistance system.

3. In the driving support device according to Claim 2, The override condition is met when the steering index value related to the steering operation performed by the driver during the execution of the deviation control is greater than or equal to a threshold. Driving assistance system.

4. In the driving support device according to claim 3, The override conditions include right-side override conditions and left-side override conditions. The aforementioned driving support device, If the right steering index value related to the steering operation to the right performed by the driver is equal to or greater than the threshold, it is determined that the right override condition has been met. If the left steering index value related to the leftward steering operation performed by the driver is equal to or greater than the threshold, it is determined that the leftward override condition has been met. A driver assistance system configured in such a way.

5. In the driving support device according to claim 4, The aforementioned driving support device, When the aforementioned vehicle approaching from behind is present, the system is configured to make it more difficult to satisfy either the right-side override condition or the left-side override condition compared to when the aforementioned vehicle approaching from behind is not present. Driving assistance system.

6. In the driving support device according to claim 5, The aforementioned driving support device, When the aforementioned vehicle approaching from behind is present and the vehicle intends to change lanes, the system is configured to make it more difficult to satisfy either the right-side override condition or the left-side override condition compared to when the vehicle approaching from behind is not present. Driving assistance system.

7. In the driving support device according to claim 6, The aforementioned driving support device, When a vehicle approaching from behind is present and intends to change lanes, the right-side override condition and the left-side override condition, specifically the override condition for the lane the vehicle is changing to, are made less likely to be met compared to when the vehicle approaching from behind is not present. A driver assistance system configured in such a way.

8. In the driving support device according to claim 7, The aforementioned driving support device, If the aforementioned vehicle approaching from behind is present and the vehicle does not intend to change lanes, and the vehicle is traveling in a lane adjacent to the overtaking lane, the system is configured to make the right-side override condition and the left-side override condition (the overtaking lane side) less likely to be met compared to when the vehicle approaching from behind is not present. Driving assistance system.

9. In the driving support device according to Claim 1, The aforementioned driving support device, When the aforementioned vehicle approaching from behind is present and the vehicle intends to change lanes, the system is configured to make it more difficult to perform the lane departure control compared to when the vehicle approaching from behind is not present. Driving assistance system.

10. In the driving support device according to Claim 1, The aforementioned driving support device, The vehicle is equipped with a sensor that detects the area behind the vehicle in its own lane. Based on the detection results of the aforementioned sensor, the presence or absence of the vehicle approaching from behind is determined. When the aforementioned vehicle approaching from behind is present, the deviation control is made more difficult to perform compared to when the aforementioned vehicle approaching from behind is not present. A driver assistance system configured in such a way.

11. A driving assistance method in which, when there is a possibility that the vehicle will deviate from the lane in which it is traveling, or when the vehicle deviates from the lane, the computer installed in the vehicle executes at least one of the following as deviation control: a departure warning to the driver and vehicle control that controls the driving state of the vehicle, The aforementioned driving assistance method is If an override condition is met during the execution of the deviation control by the driver, the computer suppresses the deviation control. If there is a vehicle approaching from behind in the same lane, the computer makes it more difficult to perform the lane departure control compared to when there is no vehicle approaching from behind. Driving assistance methods including

12. A program that causes a computer installed in a vehicle to execute at least one of a lane departure warning to the driver and a vehicle control that controls the driving state of the vehicle as lane departure control when there is a possibility that the vehicle will deviate from the lane in which it is traveling or when the vehicle has deviated from the lane, The aforementioned program, If an override condition, which is a condition that is set by the driver's operation during the execution of the deviation control, is met, the computer is instructed to suppress the deviation control. If there is a vehicle approaching from behind in the same lane, the computer is made less likely to perform the lane departure control compared to when there is no vehicle approaching from behind. A program that includes this.

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