Lane Departure Prevention Device

Abstract

To provide a lane deviation prevention device that can avoid unnecessary execution of lane deviation prevention control while preventing an object on one side of a lane where a self vehicle travels from coming in contact with the vehicle when a structure is installed on the other side of the lane.SOLUTION: A lane deviation prevention device 10 performs lane deviation prevention control when a self vehicle reaches a line that is set to extend along a demarcation line that demarcates a lane, where the vehicle travels, as a reference. When there is a structure on or near one side of the demarcation line, the lane deviation prevention device shifts the line to the other side of the lane in the direction away from the vehicle, and when there is an object beyond the other side of the demarcation lane that the vehicle may come into contact with, when there is a structure on or near one side of the demarcation line, the device shifts the line away from the vehicle on the other side of the lane by a smaller amount than when there is no structure on or near one side of the lane.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] The present invention relates to a lane departure prevention device. [Background technology]

[0002] There is known a lane departure prevention device that executes lane departure prevention control to prevent the host vehicle from departing from the lane (see, for example, Patent Document 1). There is also known a lane departure prevention device that sets a line extending along a dividing line, such as a white line, that divides the lane in which the host vehicle is traveling (host lane) at a predetermined position based on the dividing line as a control start line for determining whether or not to execute lane departure prevention control, and starts lane departure prevention control when the host vehicle reaches the control start line. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-100078 A Summary of the Invention

[0004] However, there are cases where a structure of a certain height, such as a pole, is installed on the right-side dividing line of the vehicle's lane, and in such cases, the driver may drive the vehicle to the left to move away from the structure. When the vehicle is driving to the left in this manner, the vehicle is more likely to reach the control start line (left-side control start line) that is set based on the left-side dividing line of the vehicle's lane, and lane departure prevention control is more likely to be executed.

[0005] However, since the vehicle is traveling to the left due to the driver's intention, if lane departure prevention control is executed just because the vehicle has reached the left control start line, lane departure prevention control will be executed unnecessarily.

[0006] As a measure to avoid unnecessary execution of such lane departure prevention control, when a structure is installed on the right-hand dividing line of the vehicle's lane, one possible measure is to shift the left-hand control start line away from the vehicle, making it more difficult for the vehicle to reach the left-hand control start line even if it is traveling to the left.

[0007] However, for example, if the left-side control start line is set by shifting it away from the vehicle when another vehicle is approaching the vehicle from the rear left, the vehicle may move further to the left, which may result in the other vehicle coming into contact with the vehicle, which is undesirable.

[0008] The object of the present invention is to provide a lane departure prevention device that can prevent an object on the other side of the vehicle's lane from coming into contact with the vehicle when a structure is installed on one side of the vehicle's lane, while avoiding unnecessary execution of lane departure prevention control.

[0009] The lane departure prevention device according to the present invention includes a control device that executes lane departure prevention control for preventing the host vehicle from departing from the lane.

[0010] The control device defines a lane on which the vehicle is traveling. Both sides Lot line each As a standard these Along the dividing line each When the vehicle reaches a line that is set to extend along the lane, the control device executes the lane departure prevention control. Also, when a structure is present on or near the dividing line on one side of the lane that divides the vehicle's lane, A lane marking is set along the dividing line on the other side of the lane marking. The line Before Further, when a structure is present on or near the lane line on the one side and an object with which the vehicle may come into contact is present beyond the lane line on the other side, the control device sets the lane line so as to shift the lane line in a direction away from the vehicle, compared to when the object is not present. The vehicle is ahead of the line set along the dividing line on the other side of the vehicle's own lane. Direction away from the vehicle HezuThe device is configured to reduce the amount of leakage.

[0011] According to the present invention, when a structure is present on or near one of the dividing lines that divide the vehicle's lane, the line that is used to determine whether or not lane departure prevention control is required is determined. and the line set along the dividing line on the other side of the lane that divides the vehicle's lane is If the lane markings are set in a direction away from the vehicle and if there is an object beyond the lane markings on the other side that divides the lane in which the vehicle is traveling that the vehicle may come into contact with, the vehicle may be more likely to come into contact with the lane markings than if there were no such object. , own The amount by which the line is shifted away from the vehicle is small. Therefore, when a structure is installed on one side of the host lane, it is possible to prevent the host vehicle from contacting an object on the other side of the host lane, while avoiding unnecessary execution of lane departure prevention control when the host vehicle travels close to the other side of the host lane.

[0012] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing a lane departure prevention device according to an embodiment of the present invention and a vehicle (host vehicle) on which the device is mounted. [Diagram 2] FIG. 2 is a diagram showing a scene in which the host vehicle is traveling. [Diagram 3] FIG. 3 is a diagram showing a routine executed by the lane departure prevention device according to the embodiment of the present invention. [Figure 4] FIG. 4A is a diagram showing a warning initiation line and a steering start line, and FIG. 4B is a diagram showing a warning initiation line distance and a steering start line distance. [Diagram 5] FIG. 5(A) is a diagram showing a scene where the host vehicle has reached the warning start line, and FIG. 5(B) is a diagram showing a scene where the host vehicle has reached the steering start line. [Figure 6] FIG. 6 is a diagram showing a scene in which the vehicle is autonomously steered by operation control. [Figure 7] FIG. 7 is a diagram showing a road on which a pole is installed as a structure on the right side of the host vehicle. [Figure 8] FIG. 8 is a diagram showing a road on which a guardrail is installed as a structure on the right side of the host vehicle. [Figure 9] FIG. 9 is a diagram showing a scene in which another vehicle is approaching the host vehicle from the left rear of the host vehicle traveling on the road shown in FIG. [Figure 10] FIG. 10 is a diagram showing a scene in which another vehicle is approaching the host vehicle from the left rear of the host vehicle traveling on the road shown in FIG. [Figure 11] FIG. 11 is a diagram showing a routine executed by the lane departure prevention device according to the embodiment of the present invention. [Figure 12] FIG. 12 is a diagram showing the structure distance and the structure height. [Figure 13] FIG. 13 is a diagram showing the structure distance, structure height, and structure elevation angle. [Figure 14] FIG. 14 is a diagram showing the warning start line and steering start line that are set in the scene shown in FIG. [Figure 15] FIG. 15 is a diagram showing the warning start line and steering start line that are set in the scene shown in FIG. [Figure 16] FIG. 16 is a diagram showing the warning start line and steering start line that are set in the scene shown in FIG. [Figure 17] FIG. 17 is a diagram showing the warning start line and steering start line that are set in the scene shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, a lane departure prevention device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a lane departure prevention device 10 according to an embodiment of the present invention is mounted on a host vehicle 100.

[0015] <ecu> The lane departure prevention device 10 includes an ECU 90 as a control device. ECU is an abbreviation for electronic control unit. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and an interface. The CPU realizes various functions by executing instructions, programs, or routines stored in the ROM.

[0016] <Drive unit, etc.> In addition, the host vehicle 100 is equipped with a drive device 21, a braking device 22, and a steering device 23.

[0017] <Drive unit> The drive device 21 is a device that outputs a drive torque (drive force) that is applied to the host vehicle 100 to make the host vehicle 100 travel, and is, for example, an internal combustion engine, a motor, etc. The drive device 21 is electrically connected to the ECU 90. The ECU 90 can control the operation of the drive device 21 to control the drive torque that is output from the drive device 21.

[0018] <Brake device> The braking device 22 is a device that outputs a braking torque (braking force) that is applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the ECU 90. The ECU 90 can control the operation of the braking device 22 to control the braking torque output from the braking device 22.

[0019] <Steering system> The steering device 23 is a device that outputs a steering torque (steering force) applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the ECU 90. The ECU 90 can control the operation of the steering device 23 to control the steering torque output from the steering device 23.

[0020] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 31, an accelerator pedal operation amount sensor 32, a brake pedal 33, a brake pedal operation amount sensor 34, a steering wheel 35, a steering shaft 36, a steering angle sensor 37, a steering torque sensor 38, a vehicle speed detection device 50, a surrounding information detection device 60 and an alarm device 80.

[0021] <Accelerator pedal operation amount sensor> The accelerator pedal operation amount sensor 32 is a sensor that detects the amount of operation of the accelerator pedal 31. The accelerator pedal operation amount sensor 32 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 32 transmits information on the detected amount of operation of the accelerator pedal 31 to the ECU 90. Based on that information, the ECU 90 obtains the amount of operation of the accelerator pedal 31 as the accelerator pedal operation amount AP.

[0022] The ECU 90 calculates and obtains a required driving torque (required driving force) based on the accelerator pedal operation amount AP and the traveling speed (vehicle speed) of the host vehicle 100. The required driving torque is a driving torque that is required to be output from the driving device 21. The ECU 90 controls the operation of the driving device 21 so that the required driving torque is output.

[0023] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 34 is a sensor that detects the amount of operation of the brake pedal 33. The brake pedal operation amount sensor 34 is electrically connected to the ECU 90. The brake pedal operation amount sensor 34 transmits information on the detected amount of operation of the brake pedal 33 to the ECU 90. The ECU 90 obtains the amount of operation of the brake pedal 33 as a brake pedal operation amount BP based on the information.

[0024] The ECU 90 acquires a required braking torque (required braking force) by calculation based on the brake pedal operation amount BP. The required braking torque is a braking torque that is required to be output by the braking device 22. The ECU 90 controls the operation of the braking device 22 so that the required braking torque is output.

[0025] <Steering angle sensor> The steering angle sensor 37 is a sensor that detects the rotation angle of the steering shaft 36 with respect to the neutral position. The steering angle sensor 37 is electrically connected to the ECU 90. The steering angle sensor 37 transmits information on the detected rotation angle of the steering shaft 36 to the ECU 90. The ECU 90 obtains the rotation angle of the steering shaft 36 as the steering angle θ based on the information.

[0026] <Steering torque sensor> The steering torque sensor 38 is a sensor that detects the torque input to the steering shaft 36 by the driver of the vehicle 100 via the steering wheel 35. The steering torque sensor 38 is electrically connected to the ECU 90. The steering torque sensor 38 transmits information on the detected torque to the ECU 90. The ECU 90 acquires the torque input to the steering shaft 36 by the driver via the steering wheel 35 (driver input torque TQd) based on the information.

[0027] <Vehicle speed detection device> The vehicle speed detection device 50 is a device that detects the traveling speed (vehicle speed) of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 50 is electrically connected to the ECU 90. The vehicle speed detection device 50 transmits information on the detected vehicle speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the vehicle speed V of the host vehicle 100 based on the information.

[0028] The ECU 90 calculates and obtains a required steering torque based on the acquired steering angle θ, driver input torque TQd, and vehicle speed V. The required steering torque is a steering torque that is required to be output from the steering device 23. The ECU 90 controls the operation of the steering device 23 so that the required steering torque is output from the steering device 23, except when executing lane departure prevention control, which will be described later.

[0029] <Peripheral information detection device> The surrounding information detection device 60 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes an image sensor 61 and a radio wave sensor 62. The image sensor 61 is, for example, a camera. The radio wave sensor 62 is, for example, a radar sensor (such as a millimeter wave radar). The surrounding information detection device 60 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0030] <Image sensor> The image sensor 61 is electrically connected to the ECU 90. The image sensor 61 captures an image of the surroundings of the vehicle 100 and transmits information of the captured image to the ECU 90. The ECU 90 can obtain information (surroundings detection information IS) related to the surroundings of the vehicle 100 based on the information (image information).

[0031] <Radio wave sensor> The radio wave sensor 62 is electrically connected to the ECU 90. The radio wave sensor 62 transmits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 62 transmits information (detection results) relating to the transmitted radio waves and received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 62 detects objects present in the vicinity of the vehicle 100, and transmits information (detection results) relating to the detected objects to the ECU 90. The ECU 90 can acquire information (periphery detection information IS) relating to objects such as structures present in the vicinity of the vehicle 100 based on the information (radio wave information).

[0032] <Alarm device> The warning device 80 is a device for notifying the driver that there is a possibility that the vehicle 100 will deviate from the vehicle lane LN, and in this example, includes a display device 81, an audio device 82, and a vibration device 83.

[0033] <Display device> The display device 81 is a device that displays images, and is, for example, a human-machine interface (HMI) such as a combination meter or a head-up display (HUD). The display device 81 is electrically connected to the ECU 90. The ECU 90 can cause the display device 81 to display various images.

[0034] <Sound equipment> The audio device 82 is a device that outputs voice such as an announcement or electronic sound such as a buzzer sound, and is, for example, a speaker or a buzzer. The audio device 82 is electrically connected to the ECU 90. The ECU 90 can cause the audio device 82 to output various voices or various electronic sounds.

[0035] <Vibration device> The vibration device 83 is a device that applies vibration to the driver, and is, for example, a vibrator built into the steering wheel 35 or the driver's seat. The vibration device 83 is electrically connected to the ECU 90. The ECU 90 can apply vibration to the driver by activating the vibration device 83.

[0036] <Lane Departure Prevention System Operation> Next, the operation of the lane departure prevention device 10 will be described. When the lane departure prevention device 10 determines that the host vehicle 100 may deviate from the host lane LN while the host vehicle 100 is traveling as shown in Fig. 2, the lane departure prevention device 10 executes lane departure prevention control to prevent the host vehicle 100 from deviating from the host lane LN. In this example, the lane departure prevention control includes warning control and steering control.

[0037] The warning control is a control for issuing a warning to inform the driver of the host vehicle 100 that the host vehicle 100 may depart from the host lane LN. In this example, the warning by the warning control is issued by at least one of displaying on the display device 81 an image and / or lighting on the display device 81 indicating that the host vehicle 100 may depart from the host lane LN, outputting from the acoustic device 82 a voice and / or outputting from the acoustic device 82 a buzzer sound indicating that the host vehicle 100 may depart from the host lane LN, and vibrating the steering wheel 35 and / or the driver's seat by the vibration device 83.

[0038] The steering control is a control for performing autonomous steering to autonomously steer the host vehicle 100 and prevent the host vehicle 100 from departing from the host lane LN even without the driver's steering operation of the steering wheel 35.

[0039] The warning control and steering control will be described in more detail with reference to the flowchart shown in Fig. 3. The lane departure prevention device 10 executes the routine shown in Fig. 3 at a predetermined calculation cycle. Therefore, at a predetermined timing, the lane departure prevention device 10 starts processing from step 300 of the routine shown in Fig. 3, advances the processing to step 305, and acquires the warning start line distance DA and the steering start line distance DS.

[0040] As shown in (A) of Figure 4, the lane departure prevention device 10 sets an alarm start line LA used to determine whether or not to start alarm control (whether or not alarm control needs to be executed), and also sets a steering start line LS used to determine whether or not to start steering control (whether or not steering control needs to be executed).

[0041] The alarm start line LA is a left alarm start line LAL and a right alarm start line LAR, and the left alarm start line LAL is a line extending along the left edge (e.g., the left lane marking 200L) of the own lane LN, and the right alarm start line LAR is a line extending along the right edge (e.g., the right lane marking 200R) of the own lane LN. The alarm start line LA shown in (A) of FIG. 4 is the left alarm start line LAL.

[0042] The lane departure prevention device 10 acquires the left-side marking 200L and the right-side marking 200R based on the surrounding detection information IS.

[0043] In this example, a line spaced a predetermined distance inward from the edge (demarcation line 200) of the own lane LN is predefined as the reference alarm start line LAbase. More specifically, a line spaced a predetermined distance inward from the left edge (left demarcation line 200L) of the own lane LN is predefined as the reference left alarm start line LALbase, and a line spaced a predetermined distance inward from the right edge (right demarcation line 200R) of the own lane LN is predefined as the reference right alarm start line LARbase.

[0044] The lane departure prevention device 10 sets the warning start line LA based on the reference warning start line LAbase. More specifically, the lane departure prevention device 10 sets the left warning start line LAL based on the reference left warning start line LALbase, and sets the right warning start line LAR based on the reference right warning start line LARbase. The setting of the warning start line LA will be explained in detail later. The left warning start line LAL shown in FIG. 4(A) is the left warning start line LAL when the reference left warning start line LALbase is set as it is as the left warning start line LAL.

[0045] 4B, the warning start line distance DA is the distance between the host vehicle 100 and the warning start line LA. More specifically, the warning start line distance DA is a left warning start line distance DAL and a right warning start line distance DAR, where the left warning start line distance DAL is the distance between the left front end of the host vehicle 100 and the left warning start line LAL, and the right warning start line distance DAR is the distance between the right front end of the host vehicle 100 and the right warning start line LAR.

[0046] The steering start line LS is a left steering start line LSL and a right steering start line LSR, and the left steering start line LSL is a line extending along the left edge (e.g., the left lane marking 200L) of the own lane LN, and the right steering start line LSR is a line extending along the right edge (e.g., the right lane marking 200R) of the own lane LN. The steering start line LS shown in (A) of FIG. 4 is the left steering start line LSL.

[0047] In this example, a line on the edge (demarcation line 200) of the own lane LN is predetermined as the reference steering start line LSbase. More specifically, a line on the left edge (left demarcation line 200L) of the own lane LN is predetermined as the reference left steering start line LSLbase, and a line on the right edge (right demarcation line 200R) of the own lane LN is predetermined as the reference right steering start line LSRbase.

[0048] The lane departure prevention device 10 sets the steering start line LS based on a reference steering start line LSbase. More specifically, the lane departure prevention device 10 sets the left steering start line LSL based on a reference left steering start line LSLbase, and sets the right steering start line LSR based on a reference right steering start line LSRbase. The setting of the steering start line LS will be explained in detail later. The left steering start line LSL shown in FIG. 4(A) is the left steering start line LSL when the reference left steering start line LSLbase is set as it is as the left steering start line LSL.

[0049] 4B, the steering start line distance DS is the distance between the host vehicle 100 and the steering start line LS. More specifically, the steering start line distance DS is the left steering start line distance DSL and the right steering start line distance DSR, where the left steering start line distance DSL is the distance between the left front end portion of the host vehicle 100 and the left steering start line LSL, and the right steering start line distance DSR is the distance between the right front end portion of the host vehicle 100 and the right steering start line LSR.

[0050] Next, the lane departure prevention device 10 proceeds to step 310 to determine whether or not the warning start condition is satisfied. The warning start condition is that the warning start line distance DA is equal to or less than zero. Therefore, as shown in FIG. 5A, when the host vehicle 100 reaches the warning start line LA, the lane departure prevention device 10 determines that the warning start condition is satisfied, and thereafter, determines that the warning start condition is satisfied while the host vehicle 100 is beyond the warning start line LA.

[0051] If the warning start condition is satisfied, the lane departure prevention device 10 judges "Yes" in step 310, advances the process to step 315, and executes warning control. Next, the lane departure prevention device 10 advances the process to step 320 and judges whether or not the steering start condition is satisfied. The steering start condition is a condition that the steering start line distance DS is equal to or less than zero. Therefore, as shown in FIG. 5B, when the host vehicle 100 reaches the steering start line LS, the lane departure prevention device 10 judges that the steering start condition is satisfied, and thereafter, judges that the steering start condition is satisfied until the host vehicle 100 is returned to the host lane LN.

[0052] If the steering start condition is satisfied, the lane departure prevention device 10 judges "Yes" in step 320, proceeds to step 325, and executes steering control. As a result, the host vehicle 100 is autonomously steered back into the host lane LN, as shown in Fig. 6. Next, the lane departure prevention device 10 proceeds to step 395, and temporarily ends the processing of this routine.

[0053] On the other hand, if the steering start condition is not satisfied, the lane departure prevention device 10 judges "No" in step 320, proceeds to step 330, and ends the steering control if steering control is being executed at that point. Next, the lane departure prevention device 10 proceeds to step 395, and temporarily ends the processing of this routine.

[0054] If the warning start condition is not satisfied, the lane departure prevention device 10 determines "No" in step 310, proceeds to step 335, and ends the warning control if warning control is being executed at that time. If steering control is being executed at that time, the lane departure prevention device 10 also ends the steering control. Next, the lane departure prevention device 10 proceeds to step 395, and temporarily ends the processing of this routine.

[0055] Incidentally, the lane departure prevention device 10 is configured to also execute warning control when steering control is being executed, but may be configured to end warning control when steering control is started.

[0056] <Setting the warning start line and steering start line> Next, the setting of the warning start line LA and the steering start line LS will be described. As shown in Fig. 7, a structure 250 having a certain height, such as a pole, may be installed on the right-side dividing line 200R of the own lane LN, and in that case, the driver may drive the own vehicle 100 to the left so as to move away from the structure 250. Similarly, as shown in Fig. 8, a structure 250 having a certain height, such as a guardrail defining a median strip, may be installed near the right side of the right-side dividing line 200R of the own lane LN, and in that case, the driver may drive the own vehicle 100 to the left so as to move away from the structure 250.

[0057] In this way, when the vehicle 100 is traveling on the left side, if the reference left side warning start line LALbase and the reference left side steering start line LSLbase are set as the left side warning start line LAL and the left side steering start line LSL, respectively, the vehicle 100 is more likely to reach the left side warning start line LAL or the left side steering start line LSL, making it easier to execute lane departure prevention control.

[0058] However, since the vehicle 100 is traveling to the left due to the driver's intention, if lane departure control is executed just because the vehicle 100 reaches the left warning start line LAL or the left steering start line LSL in the situation shown in Figures 7 and 8, lane departure control will be executed unnecessarily.

[0059] As a measure to avoid unnecessary execution of such lane departure prevention control, when a structure 250 of a certain height is installed on or near the right dividing line 200R of the host vehicle lane LN, a measure can be considered in which the left side warning start line LAL and the left side steering start line LSL are set shifted away from the host vehicle 100, making it more difficult for the host vehicle 100 to reach the left side warning start line LAL and the left side steering start line LSL even if the host vehicle 100 is traveling to the left.

[0060] In other words, generally speaking, to include cases where a structure of a certain height is installed on or near the left dividing line 200L of the host lane LN, as a measure to avoid unnecessary execution of lane departure prevention control, when a structure of a certain height is installed on or near the dividing line 200 on one side of the host lane LN, a measure can be considered in which the alarm start line LA and steering start line LS are set to the other side of the host lane LN, away from the host vehicle 100, so that even if the host vehicle 100 is traveling closer to the other side of the host lane LN, it is less likely that the host vehicle 100 will reach the alarm start line LA and steering start line LS.

[0061] However, for example, as shown in Fig. 9, if the left warning start line LAL and the left steering start line LSL are set in a direction away from the host vehicle 100 when another vehicle 150 is approaching the host vehicle 100 from the left rear, the host vehicle 100 can move further to the left, which is undesirable as a result. Similarly, as shown in Fig. 10, if the warning start line LA and the steering start line LS are set in a direction away from the host vehicle 100 when another vehicle 150 traveling in the lane to the left of the host vehicle LN is approaching the host vehicle 100 from the rear, the host vehicle 100 can move further to the left, which is undesirable as a result.

[0062] In other words, generally speaking, including cases where a structure of a certain height is installed on or near the left dividing line 200L of the host vehicle LN, if an object such as another vehicle 150 approaching the host vehicle 100 from behind on the other side of the host vehicle LN is present, and the alarm start line LA and steering start line LS are set on the other side of the host vehicle LN in a direction away from the host vehicle 100, there is a possibility that the object will come into contact with the host vehicle 100, which is not desirable.

[0063] Therefore, when a structure of a certain height is set on or near the dividing line 200 on one side of the host lane LN, the lane departure prevention device 10 sets an alarm start line LA and a steering start line LS to prevent the host vehicle 100 from contacting an object on the other side of the host lane LN, while avoiding unnecessary execution of alarm control and operation control even if the host vehicle 100 travels close to the other side of the host lane LN.

[0064] Next, the setting of the warning start line LA and the steering start line LS by the lane departure prevention device 10 will be described with reference to the flowchart shown in FIG.

[0065] The lane departure prevention device 10 is configured to execute the routine shown in Fig. 11 at a predetermined calculation cycle. Therefore, at a predetermined timing, the lane departure prevention device 10 starts the process from step 1100 of the routine shown in Fig. 11, advances the process to step 1105, and determines whether or not the structure condition is satisfied.

[0066] The structure condition is that the structure distance W is less than or equal to a predetermined distance (structure distance threshold Wth) and the structure height H is greater than or equal to a predetermined height (structure height threshold Hth), but it may also be that the structure distance W is less than or equal to the structure distance threshold Wth and the structure elevation angle θe is greater than or equal to a predetermined elevation angle (structure elevation angle threshold θe_th).

[0067] The structure distance W is the distance from the structure 250 to the own lane LN, and more specifically, the distance between the wall surface of the structure 250 on the own lane LN side and the end of the demarcation line 200 on the structure 250 side. Therefore, as shown in FIG. 12, when the structure 250 is on the right side of the own lane LN, the structure distance W is the distance between the wall surface of the structure 250 on the own lane LN side and the right end ER of the right-side demarcation line 200R, and when the structure 250 is on the left side of the own lane LN, the structure distance W is the distance between the wall surface of the structure 250 on the own lane LN side and the left end of the left-side demarcation line 200L.

[0068] Moreover, the structure height H is the height of the structure 250, and in this example, as shown in FIG. 12, is the height of the structure 250 from the surface of the road on which the host vehicle 100 is traveling.

[0069] The structure elevation angle θe is the elevation angle of the upper end EU of the structure 250 from the vehicle lane LN, and more specifically, when viewed on a vertical plane perpendicular to the traveling direction of the vehicle 100, is the angle between a "line along the road surface on which the vehicle 100 is traveling" and a "line connecting the end of the demarcation line 200 on the structure 250 side on the structure 250 side and the upper end EU of the wall surface of the structure 250 on the road side on which the vehicle 100 is traveling". For example, in the example shown in FIG. 13, the structure elevation angle θe is the angle between a "line L1 along the road surface on which the vehicle 100 is traveling" and a "line L2 connecting the right end ER of the right demarcation line 200R and the upper end EU of the wall surface of the structure 250 on the road side on which the vehicle 100 is traveling". In this example, the structure elevation angle θe is acquired based on the structure distance W and the structure height H.

[0070] The lane departure prevention device 10 detects the structure 250 based on the periphery detection information IS, and obtains the structure distance W, the structure height H, and the structure elevation angle θe based on the periphery detection information IS.

[0071] If the structure condition is met, the lane departure prevention device 10 judges "Yes" in step 1105, advances the process to step 1110, and judges whether or not the opposite-side attention condition is met.

[0072] The opposite side caution condition is a condition that an object with which the host vehicle 100 may come into contact exists beyond the dividing line 200 on the opposite side to the side on which the structure is set with respect to the host vehicle 100. The lane departure prevention device 10 detects the object based on the surrounding detection information IS.

[0073] If the opposite side attention condition is satisfied, the lane departure prevention device 10 determines "Yes" in step 1110, proceeds to step 1115, and sets the offset amount ΔD to a relatively small predetermined amount (small offset amount ΔDsmall). Next, the lane departure prevention device 10 proceeds to step 1130, and sets the reference warning start line LAbase and the reference steering start line LSbase by the offset amount ΔD in a direction away from the host vehicle 100 on the opposite side to the side on which the structure 250 is installed as the warning start line LA and the steering start line LS, respectively.

[0074] More specifically, when the lane departure prevention device 10 advances the process to step 1130, if the device is installed on or near the right dividing line 200R of the host lane LN, the device sets lines obtained by shifting the reference left warning start line LALbase and the reference left steering start line LSLbase by the offset amount ΔD in a direction away from the host vehicle 100 to the left as the left warning start line LAL and the left steering start line LSL, respectively. On the other hand, if the lane departure prevention device 10 is installed on or near the left dividing line 200L of the host lane LN, the device sets lines obtained by shifting the reference right warning start line LARbase and the reference right steering start line LSRbase by the offset amount ΔD in a direction away from the host vehicle 100 to the right as the right warning start line LAR and the right steering start line LSR, respectively.

[0075] Therefore, when the lane departure prevention device 10 proceeds from step 1115 to step 1130, it sets the standard warning start line LAbase and the standard steering start line LSbase as the warning start line LA and the steering start line LS, respectively, by shifting the standard warning start line LAbase and the standard steering start line LSbase by a small offset amount ΔDsmall in a direction away from the vehicle 100 on the side opposite the side on which the structure 250 is installed.

[0076] For example, as shown in FIG. 14, when a structure 250 (pole) is set on the right-side dividing line 200R of the host vehicle LN and the structure condition is satisfied, and another vehicle 150 is approaching the host vehicle 100 from the left rear of the host vehicle 100 and the opposite side caution condition is satisfied, the lane departure prevention device 10 sets the reference left side warning start line LALbase and the reference left side steering start line LSLbase as lines shifted by a small offset amount ΔDsmall in the direction away from the host vehicle 100 to the left as the left side warning start line LAL and the left side steering start line LSL, respectively.

[0077] Similarly, as shown in FIG. 15, when a structure 250 (guardrail) is set near the right side of the right-side dividing line 200R of the host vehicle LN and the structure condition is met, and another vehicle 150 is approaching the host vehicle 100 from the left rear of the host vehicle 100 and the caution on the other side condition is met, the lane departure prevention device 10 sets the reference left side warning start line LALbase and the reference left side steering start line LSLbase as lines shifted by a small offset amount ΔDsmall in the direction away from the host vehicle 100 to the left as the left side warning start line LAL and the left side steering start line LSL, respectively.

[0078] After executing the process of step 1130, the lane departure prevention system 10 advances the process to step 1195 and temporarily ends the process of this routine.

[0079] On the other hand, if the opposite side attention condition is not satisfied, the lane departure prevention device 10 determines "No" in step 1110, proceeds to step 1120, and sets the offset amount ΔD to a relatively large predetermined amount, i.e., a predetermined amount (large offset amount ΔDlarge) larger than the small offset amount ΔDsmall. Next, the lane departure prevention device 10 proceeds to step 1130, and sets lines obtained by shifting the reference warning start line LAbase and the reference steering start line LSbase by the offset amount ΔD in a direction away from the host vehicle 100 to the side opposite the side on which the structure is installed as the warning start line LA and the steering start line LS, respectively.

[0080] Therefore, when the lane departure prevention device 10 proceeds from step 1120 to step 1130, it sets the standard warning start line LAbase and the standard steering start line LSbase as the warning start line LA and the steering start line LS, respectively, by shifting the standard warning start line LAbase and the standard steering start line LSbase by the large offset amount ΔDlarge in the direction away from the vehicle 100 on the side opposite the side on which the structure 250 is installed.

[0081] For example, as shown in FIG. 16, when a structure 250 (pole) is set on the right-side dividing line 200R of the host vehicle LN, the structure condition is satisfied, and there is no object on the left side of the host vehicle 100 that the host vehicle 100 may come into contact with, and the opposite side caution condition is not satisfied, the lane departure prevention device 10 sets the reference left side warning start line LALbase and the reference left side steering start line LSLbase shifted to the left by a large offset amount ΔDlarge in the direction away from the host vehicle 100 as the left side warning start line LAL and the left side steering start line LSL, respectively.

[0082] Similarly, as shown in Figure 17, when a structure 250 (guardrail) is set near the right side of the right-side dividing line 200R of the host vehicle LN, the structure condition is met, and there is no object on the left side of the host vehicle 100 that the host vehicle 100 may come into contact with, and the opposite side caution condition is not met, the lane departure prevention device 10 sets the reference left side warning start line LALbase and the reference left side steering start line LSLbase to the left by a large offset amount ΔDlarge in the direction away from the host vehicle 100 as the left side warning start line LAL and left side steering start line LSL, respectively.

[0083] After executing the process of step 1130, the lane departure prevention system 10 advances the process to step 1195 and temporarily ends the process of this routine.

[0084] On the other hand, if the structure condition is not satisfied, the lane departure prevention device 10 determines "No" in step 1105, proceeds to step 1125, and sets the offset amount ΔD to zero. Next, the lane departure prevention device 10 proceeds to step 1130 and sets the warning start line LA and the steering start line LS, but at this time, the process has proceeded from step 1125 to step 1130, and the offset amount ΔD is zero. Therefore, the lane departure prevention device 10 sets the reference warning start line LAbase and the reference steering start line LSbase as the warning start line LA and the steering start line LS, respectively.

[0085] After executing the process of step 1130, the lane departure prevention system 10 advances the process to step 1195 and temporarily ends the process of this routine.

[0086] <Effects> According to the lane departure prevention device 10, when a structure is installed on one side of the host lane LN, the warning start line LA and the steering start line LS are set to be shifted in a direction away from the host vehicle 100 to the other side of the host lane LN, and further, when an object with which the host vehicle 100 may come into contact exists beyond the dividing line 200 on the other side of the host lane LN, the amount by which the warning start line LA and the steering start line LS are shifted in a direction away from the host vehicle 100 to the other side of the host lane LN (offset amount ΔD) is smaller than when such an object does not exist. Therefore, when a structure is installed on one side of the host lane LN, it is possible to prevent the host vehicle 100 from coming into contact with an object existing on the other side of the host lane LN, while avoiding unnecessary execution of lane departure control when the host vehicle 100 travels close to the other side of the host lane LN.

[0087] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0088] 10... lane departure prevention device, 23... steering device, 60... surrounding information detection device, 61... image sensor, 62... radio wave sensor, 80... alarm device, 81... display device, 82... sound device, 83... vibration device, 90... ECU, 100... host vehicle, 200... lane marking, 250... structure< / ecu>

Claims

[Claim 1] A lane departure prevention device including a control device that executes lane departure prevention control for preventing a host vehicle from departing from a lane, the control device is configured to execute the lane departure prevention control when the host vehicle reaches a line that is set to extend along a dividing line on each side of a host lane, the lane in which the host vehicle is traveling, using the dividing lines as references, the control device is configured to, when a structure is present on or near the dividing line on one side that defines the host lane, shift the line that is set along the dividing line on the other side that defines the host lane in a direction away from the host vehicle, the control device is configured to, when a structure is present on or near the dividing line on one side and an object with which the host vehicle may come into contact is present beyond the dividing line on the other side, reduce an amount by which the line set along the dividing line on the other side dividing the host lane is shifted in a direction away from the host vehicle, compared to a case in which the object is not present. Lane departure prevention device.

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