Vehicle Driving Assistance Device

Abstract

To provide a vehicle driving support device capable of executing traffic lane deviation prevention control while preventing a driver of an own vehicle from feeling annoyed.SOLUTION: A vehicle driving support system 10 performs traffic lane deviation prevention control to prevent an own vehicle 100 from deviating from a traffic lane when there is a possibility that the own vehicle 100 deviates from the traffic lane. The vehicle driving support device is configured not to execute the traffic lane deviation prevention control while the own vehicle is traveling in a parking lot 300.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] There is known a vehicle driving support device that executes lane departure prevention control to prevent the vehicle from departing from the driving lane. There is also known a vehicle driving support device that does not execute lane departure prevention control when the vehicle approaches a point where it is unlikely to execute lane departure prevention control, such as a point (junction) where the main road of a highway branches off to a branch road leading to a service area or a parking area, or a point where a toll booth is installed on the highway (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-116436 A Summary of the Invention

[0004] The conventional vehicle driving assistance device described above only prevents the execution of lane departure prevention control when the host vehicle approaches a point where the execution of lane departure prevention control is low. That is, the conventional vehicle driving assistance device prevents the execution of lane departure prevention control only when the host vehicle approaches a specific point, for example, when the host vehicle approaches the entrance or exit of a parking lot.

[0005] However, when the vehicle is traveling in a parking lot, the vehicle may be in danger of straying from the roadway in the parking lot in order to avoid people walking in the parking lot until a parking space is found in which the vehicle can be parked. If lane departure prevention control is executed in such a case, the driver may feel annoyed.

[0006] An object of the present invention is to provide a vehicle driving assistance device that can execute lane departure prevention control while preventing the driver of the vehicle from feeling annoyed.

[0007] A vehicle driving assistance device according to the present invention includes a control device that executes lane departure prevention control for preventing a host vehicle from departing from a driving lane when there is a possibility that the host vehicle will depart from the driving lane. The control device is configured not to execute the lane departure prevention control while the host vehicle is traveling in a parking lot. Furthermore, in the vehicle driving assistance device according to the present invention, the host vehicle is equipped with a host vehicle position acquisition device that acquires the position of the host vehicle on a map, and an image sensor that captures an image of the periphery of the host vehicle. The host vehicle position acquisition device is provided with a map database, and is configured to acquire the position of the host vehicle based on a GPS signal, and to acquire the position of the host vehicle on the map by comparing the acquired position with the map database. The control device is configured to acquire information related to the periphery of the host vehicle as periphery detection information based on information of an image captured by the image sensor. The control device is configured to determine whether or not the vehicle is driving in the parking lot based on the position of the vehicle on the map, and if it determines that the vehicle is driving in the parking lot based on the position of the vehicle on the map, not to execute the lane departure prevention control even if it determines that there is a possibility that the vehicle will deviate from its driving lane. Furthermore, if the control device determines that the vehicle is not driving in the parking lot based on the position of the vehicle on the map, and if it cannot determine whether the vehicle is driving in the parking lot based on the position of the vehicle on the map, the control device determines whether the vehicle has passed through an entrance to the parking lot based on the periphery detection information, and determines whether the vehicle has passed through an exit of the parking lot based on the periphery detection information, and is configured to determine that the vehicle is driving in the parking lot if it determines based on the periphery detection information that the vehicle has passed through the entrance to the parking lot but not the exit of the parking lot, and not to execute the lane departure prevention control even if it determines that the vehicle may deviate from its driving lane. Furthermore, the control device is configured to determine that the vehicle is not traveling within the parking lot when it determines based on the surrounding detection information that the vehicle has not passed through the entrance to the parking lot, and when it determines based on the surrounding detection information that the vehicle has passed through the exit of the parking lot, and to execute the lane departure prevention control when it determines that the vehicle may deviate from its driving lane.

[0008] According to the present invention, lane departure prevention control is not executed while the host vehicle is traveling in a parking lot, and therefore it is possible to prevent the lane departure prevention control from being executed while the host vehicle is traveling in a parking lot, which may cause the driver to feel annoyed.

[0009] 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]

[0010] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance 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. 3A is a diagram showing a warning initiation line and a steering start line, and FIG. 3B is a diagram showing a warning initiation line distance and a steering start line distance. [Figure 4]FIG. 4(A) is a diagram showing a scene where the host vehicle has reached the warning start line, and FIG. 4(B) is a diagram showing a scene where the host vehicle has reached the steering start line. [Diagram 5] FIG. 5 is a diagram showing a scene in which the vehicle is autonomously steered by operation control. [Figure 6] FIG. 6 is a diagram showing a parking lot. [Figure 7] FIG. 7 is a diagram showing a routine executed by the vehicle driving support device according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing a routine executed by the vehicle driving support device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG.

[0012] <ecu> The vehicle driving assistance 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, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the ROM.

[0013] <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.

[0014] <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.

[0015] <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.

[0016] <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.

[0017] <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 lane departure prevention request button 39, a vehicle speed detection device 40, a surrounding information detection device 50, a vehicle position acquisition device 60 and an alarm device 70.

[0018] <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.

[0019] 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.

[0020] <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.

[0021] 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.

[0022] <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.

[0023] <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.

[0024] <Lane Departure Prevention Request Button> The lane departure prevention request button 39 is a device that is operated by the driver of the vehicle 100 when requesting the execution of lane departure prevention control, which will be described later. The lane departure prevention request button 39 is electrically connected to the ECU 90. When the lane departure prevention request button 39 is operated to an on state, the ECU 90 determines that the execution of lane departure prevention control has been requested.

[0025] <Vehicle speed detection device> The vehicle speed detection device 40 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 40 is electrically connected to the ECU 90. The vehicle speed detection device 40 transmits information on the detected traveling speed of the host vehicle 100 to the ECU 90. The ECU 90 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V based on the information.

[0026] 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.

[0027] <Peripheral information detection device> The surrounding information detection device 50 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes an image sensor 51 and a radio wave sensor 52. In this example, the image sensor 51 is a camera. The radio wave sensor 52 is a radar sensor (such as a millimeter wave radar). The radio wave sensor 52 may be a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0028] <Image sensor> The image sensor 51 is electrically connected to the ECU 90. The image sensor 51 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) regarding the surroundings of the vehicle 100 based on the information (camera image information).

[0029] <Radio wave sensor> The radio wave sensor 52 is electrically connected to the ECU 90. The radio wave sensor 52 transmits radio waves and receives radio waves reflected by objects (reflected waves). The radio wave sensor 52 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 52 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).

[0030] <Vehicle position acquisition device> The own-vehicle position acquisition device 60 is a device that acquires the position of the own vehicle 100 on a map. In this example, it includes a GPS device 61 and a map database 62.

[0031] <GPS Device and Map Database> The GPS device 61 is a device that receives GPS signals and is electrically connected to the ECU 90. Also, the map database 62 is a device that stores map information and is electrically connected to the ECU 90. The ECU 90 receives GPS signals via the GPS device 61 and acquires the current position of the own vehicle 100 based on those GPS signals. Furthermore, the ECU 90 acquires the position of the own vehicle 100 on the map by comparing the acquired current position of the own vehicle 100 with the map information stored in the map database 62. Note that the map information stored in the map database 62 also includes information regarding parking lots.

[0032] <Warning Device> The warning device 70 is a device for notifying the driver that the own vehicle 100 may deviate from the driving lane (own lane LN) of the own vehicle 100. In this example, it includes a display device 71, an acoustic device 72, and a vibration device 73.

[0033] <Display Device> The display device 71 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 71 is electrically connected to the ECU 90. The ECU 90 can cause the display device 71 to display various images.

[0034] <Acoustic Device> The acoustic device 72 is a device that outputs sounds such as announcements or electronic sounds such as buzzer sounds, and is, for example, a speaker or a buzzer. The acoustic device 72 is electrically connected to the ECU 90. The ECU 90 can cause the acoustic device 72 to output various sounds or various electronic sounds.

[0035] <Vibration Device> The vibration device 73 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 73 is electrically connected to the ECU 90. The ECU 90 can apply vibration to the driver by activating the vibration device 73.

[0036] <Operation of vehicle driving support device> Next, the operation of the vehicle driving support device 10 will be described. When the vehicle driving support 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 vehicle driving support 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 71 an image and / or lighting on the display device 71 indicating that the host vehicle 100 may depart from the host lane LN, outputting from the audio device 72 a voice and / or outputting from the audio device 72 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 73.

[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] Next, the execution of the warning control and steering control will be described.

[0040] As shown in (A) of Figure 3, the vehicle driving assistance 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) while the vehicle 100 is traveling, 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 FIG. 3A is the left alarm start line LAL.

[0042] The vehicle driving assistance device 10 acquires the left lane marking 200L and the right lane 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 set as the alarm start line LA. More specifically, a line spaced a predetermined distance inward from the left edge (left demarcation line 200L) of the own lane LN is set as the left alarm start line LAL, and a line spaced a predetermined distance inward from the right edge (right demarcation line 200R) of the own lane LN is set as the right alarm start line LAR.

[0044] On the other hand, 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. 3 is the left steering start line LSL.

[0045] In this example, a line on the edge (demarcation line 200) of the own lane LN is set as the steering start line LS. More specifically, a line on the left edge (left demarcation line 200L) of the own lane LN is set as the left steering start line LSL, and a line on the right edge (right demarcation line 200R) of the own lane LN is set as the right steering start line LSR.

[0046] In addition, the vehicle driving assistance device 10 acquires the warning start line distance DA and the steering start line distance DS while the host vehicle 100 is traveling.

[0047] 3B, 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.

[0048] 3B, 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.

[0049] Then, the vehicle driving assistance device 10 judges whether or not the warning start condition is satisfied. The warning start condition is a condition that the warning start line distance DA is equal to or less than zero. Therefore, as shown in (A) of FIG. 4, when the host vehicle 100 reaches the warning start line LA, the vehicle driving assistance device 10 judges that the warning start condition is satisfied, and thereafter, while the host vehicle 100 is beyond the warning start line LA, the vehicle driving assistance device 10 judges that the warning start condition is satisfied. If the warning start condition is satisfied, the vehicle driving assistance device 10 executes warning control.

[0050] Furthermore, the vehicle driving assistance device 10 judges whether or not a 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. 4B, when the host vehicle 100 reaches the steering start line LS, the vehicle driving assistance 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. If the steering start condition is satisfied, the vehicle driving assistance device 10 executes steering control. As a result, the host vehicle 100 is autonomously steered and returned to the host lane LN, as shown in FIG. 5.

[0051] The vehicle driving assistance 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.

[0052] Incidentally, as shown in Fig. 6, the vehicle 100 may enter a parking lot 300 and travel within the parking lot 300. At this time, until a parking space in which the vehicle 100 can be parked is found, the vehicle 100 may be on the verge of deviating from the travel path within the parking lot 300, for example, by avoiding pedestrians within the parking lot 300. If lane departure prevention control is implemented at such a time, the implementation of such lane departure prevention control may be bothersome to the driver.

[0053] Therefore, the vehicle driving assistance device 10 is configured not to execute steering avoidance control when a condition that the host vehicle 100 is traveling in a parking lot 300 (a system intervention prohibition condition) is satisfied.

[0054] In this example, the vehicle driving assistance device 10 determines whether or not the vehicle 100 is traveling in the parking lot 300 by checking the vehicle position acquired from the GPS signal against the map database 62. Here, when the vehicle driving assistance device 10 determines that the vehicle 100 is traveling in the parking lot 300, it determines that the system intervention prohibition condition is established. On the other hand, when the vehicle driving assistance device 10 determines that the vehicle 100 is not traveling in the parking lot 300 or cannot determine whether the vehicle 100 is traveling in the parking lot 300, it determines whether or not the vehicle 100 has passed the entrance 301 or exit 302 of the parking lot 300 based on the camera image information.

[0055] When the vehicle driving assistance device 10 determines based on the camera image information that the vehicle 100 has passed the entrance 301 of the parking lot 300, it determines that the vehicle 100 is traveling in the parking lot 300 and determines that the system intervention prohibition condition is satisfied. On the other hand, when the vehicle driving assistance device 10 determines based on the camera image information that the vehicle 100 has passed the exit 302 of the parking lot 300, it determines that the vehicle 100 is not traveling in the parking lot 300 and determines that the system intervention prohibition condition is no longer satisfied.

[0056] In addition, the vehicle driving assistance device 10 stores image data of the entrances and exits of various parking lots, and by comparing the image data with camera image information, it determines whether the vehicle 100 has passed through the entrance 301 of the parking lot 300 and whether the vehicle 100 has passed through the exit 302 of the parking lot 300.

[0057] In addition, the vehicle driving assistance device 10 may be configured to determine that the system intervention prohibition condition is met when the vehicle position obtained from the GPS signal is compared with the map database 62 to determine that the vehicle 100 is traveling in a parking lot 300, and when the vehicle 100 is determined to have passed through the entrance 301 of the parking lot 300 based on camera image information.

[0058] <Effects> According to the vehicle driving assistance device 10, lane departure prevention control is not executed while the vehicle 100 is traveling within the parking lot 300, so that it is possible to prevent the driver from feeling annoyed due to lane departure prevention control being executed while the vehicle 100 is traveling within the parking lot 300.

[0059] <Specific operation of the vehicle driving support device> Next, a specific operation of the vehicle driving support device 10 will be described. The vehicle driving support device 10 executes the routine shown in Fig. 7 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle driving support device 10 starts processing from step 700 of the routine shown in Fig. 7, advances the processing to step 705, and determines whether or not execution of lane departure prevention control is requested.

[0060] When execution of lane departure prevention control is requested, the vehicle driving assistance device 10 judges "Yes" in step 705, advances the process to step 710, and determines whether or not the system intervention prohibition condition is satisfied by executing the routine shown in Fig. 8. Therefore, when the vehicle driving assistance device 10 advances the process to step 710, it starts the process from step 800 of the routine shown in Fig. 8, advances the process to step 805, and acquires the position of the host vehicle 100 (host vehicle position) by using the GPS signal and the map database 62.

[0061] Next, the vehicle driving assistance device 10 advances the process to step 810, and determines whether or not the host vehicle 100 is traveling in the parking lot 300, based on the host vehicle position acquired in the process of step 805. If the vehicle driving assistance device 10 determines in step 810 that the host vehicle 100 is traveling in the parking lot 300, the vehicle driving assistance device 10 determines "Yes" in step 810, advances the process to step 815, and determines that the system intervention prohibition condition is established. Then, the vehicle driving assistance device 10 advances the process to step 715 of the routine shown in FIG. 7 via step 895.

[0062] On the other hand, if the vehicle driving assistance device 10 determines in step 810 that the host vehicle 100 is not traveling in the parking lot 300, the device determines "No" in step 810 and proceeds to step 820 to acquire image information. Next, the vehicle driving assistance device 10 proceeds to step 825 and determines whether the host vehicle 100 is traveling in the parking lot 300 based on the image information acquired in step 820.

[0063] When the vehicle driving assistance device 10 determines in step 825 that the vehicle 100 is traveling in the parking lot 300, the vehicle driving assistance device 10 determines "Yes" in step 825, advances the process to step 830, and determines that the system intervention prohibition condition is established. Then, the vehicle driving assistance device 10 advances the process to step 715 of the routine shown in FIG. 7 via step 895.

[0064] On the other hand, if the vehicle driving assistance device 10 determines in step 825 that the vehicle 100 is not traveling in the parking lot 300, the result in step 825 is "No," and the process proceeds to step 835, where it is determined that the system intervention prohibition condition is not satisfied. Then, the vehicle driving assistance device 10 proceeds to step 715 of the routine shown in FIG. 7 via step 895.

[0065] 7, the vehicle driving assistance device 10 determines whether or not the system intervention prohibition condition is satisfied by the processing of step 710. If the vehicle driving assistance device 10 determines that the system intervention prohibition condition is not satisfied, the vehicle driving assistance device 10 determines "No" in step 715 and proceeds to processing of step 720 to set the warning start line LA and the steering start line LS. Next, the vehicle driving assistance device 10 proceeds to processing of step 725 to obtain the warning start line distance DA and the steering start line distance DS.

[0066] Next, the vehicle driving assistance device 10 proceeds to step 730 and determines whether or not the warning start condition is satisfied. If the warning start condition is satisfied, the vehicle driving assistance device 10 determines "Yes" in step 730, proceeds to step 735, and executes warning control. Next, the vehicle driving assistance device 10 proceeds to step 740 and determines whether or not the steering start condition is satisfied. If the steering start condition is satisfied, the vehicle driving assistance device 10 determines "Yes" in step 740, proceeds to step 745, and executes steering control. Next, the vehicle driving assistance device 10 proceeds to step 795 and temporarily ends the processing of this routine.

[0067] On the other hand, if the steering start condition is not satisfied, the vehicle driving support device 10 judges "No" in step 740, proceeds to step 750, and ends the steering control if the steering control is being executed at that time. Next, the vehicle driving support device 10 proceeds to step 795, and ends the processing of this routine.

[0068] If the warning start condition is not satisfied, the vehicle driving support device 10 judges "No" in step 730, proceeds to step 755, and ends the warning control if warning control is being executed at that time. If the vehicle driving support device 10 is executing steering control at that time, it also ends the steering control. Next, the vehicle driving support device 10 proceeds to step 795, and ends the processing of this routine.

[0069] Also, when the vehicle driving assistance device 10 determines in step 710 that the system intervention prohibition condition is satisfied, it determines "Yes" in step 715, proceeds directly to step 795, and temporarily ends the processing of this routine. In this case, the host vehicle 100 is traveling in the parking lot 300, and therefore the vehicle driving assistance device 10 does not execute lane departure prevention control.

[0070] On the other hand, if the execution of lane departure prevention control is not requested, the vehicle driving assistance system 10 judges "No" in step 705, proceeds directly to step 795, and temporarily ends the processing of this routine.

[0071] The specific operation of the vehicle driving assistance device 10 has been described above.

[0072] 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]

[0073] 10...vehicle driving assistance device, 23...steering device, 50...surrounding information detection device, 51...image sensor, 60...vehicle position acquisition device, 61...GPS device, 62...map database, 70...alarm device, 71...display device, 72...sound device, 73...vibration device, 90...ECU, 100...vehicle, 200...dividing line, 300...parking lot, 301...entrance, 302...exit< / ecu>

Claims

[Claim 1] A vehicle driving assistance device including a control device that executes lane departure prevention control to prevent a host vehicle from departing from a driving lane when there is a possibility that the host vehicle will depart from the lane, The control device is configured not to execute the lane departure prevention control while the host vehicle is traveling in a parking lot. In a vehicle driving assistance device, The vehicle is equipped with a vehicle position acquisition device that acquires a position of the vehicle on a map, and an image sensor that captures an image of the surroundings of the vehicle, the vehicle position acquisition device includes a map database, and is configured to acquire a position of the vehicle based on a GPS signal, and to acquire a position of the vehicle on the map by comparing the acquired position with the map database; The control device is configured to acquire information regarding a periphery of the host vehicle as periphery detection information based on information of an image captured by the image sensor, The control device includes: determining whether or not the vehicle is traveling in the parking lot based on the position of the vehicle on the map; when it is determined that the host vehicle is traveling in the parking lot based on the position of the host vehicle on the map, even if it is determined that the host vehicle may deviate from the traveling lane, the lane departure prevention control is not executed; if it is determined that the vehicle is not traveling in the parking lot based on the position of the vehicle on the map, and if it is not possible to determine whether the vehicle is traveling in the parking lot based on the position of the vehicle on the map, determine whether the vehicle has passed through an entrance to the parking lot based on the periphery detection information, and determine whether the vehicle has passed through an exit of the parking lot based on the periphery detection information; When it is determined based on the periphery detection information that the vehicle has passed through the entrance of the parking lot but not passed through the exit of the parking lot, it is determined that the vehicle is traveling in the parking lot, and even if it is determined that there is a possibility that the vehicle will deviate from its driving lane, the lane departure prevention control is not executed; when it is determined based on the periphery detection information that the host vehicle has not passed through the entrance of the parking lot, and when it is determined based on the periphery detection information that the host vehicle has passed through the exit of the parking lot, it is determined that the host vehicle is not traveling in the parking lot, and when it is determined that the host vehicle may deviate from its traveling lane, it executes the lane departure prevention control. It was configured as follows: Vehicle driving assistance device.

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