Vehicle Detection Device and Vehicle Detection Program

Abstract

To provide a vehicle detection device, a vehicle detection method, and a vehicle detection program that are capable of appropriately setting a detection range for detecting an interruption of another vehicle into an own vehicle traveling lane to improve the accuracy of interruption detection.SOLUTION: A vehicle detection device according to an aspect of an embodiment comprises a setting unit and an acquisition unit. The setting unit sets a detection range for detecting an interruption of another vehicle traveling in an adjacent lane adjacent to an own vehicle's traveling lane where an own vehicle is traveling into the own vehicle traveling lane. The acquisition unit acquires operation state information related to an operation state of the own vehicle. Also, the setting unit changes the detection range in accordance with the operation information acquired by the acquisition unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle detection device Place and a vehicle detection program.

Background Art

[0002] Conventionally, for example, in a host vehicle traveling in a host vehicle traveling lane, various techniques have been proposed for detecting an intrusion of another vehicle traveling in an adjacent lane adjacent to the host vehicle traveling lane into the host vehicle traveling lane (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the prior art has room for improvement in appropriately setting a detection range for detecting an intrusion of another vehicle into the host vehicle traveling lane and improving the detection accuracy of the intrusion.

[0005] The present invention has been made in view of the above, and a vehicle detection device Place and a vehicle detection program capable of appropriately setting a detection range for detecting an intrusion of another vehicle into the host vehicle traveling lane and improving the detection accuracy of the intrusion are provided.

Means for Solving the Problems

[0006] In order to solve the above problems and achieve the object, the present invention provides a vehicle detection device including a setting unit and an acquisition unit. The setting unit sets a detection range for detecting an intrusion of another vehicle traveling in an adjacent lane adjacent to the own vehicle traveling lane in which the own vehicle travels into the own vehicle traveling lane. The acquisition unit acquires driving state information regarding the driving state of the own vehicle. Further, the setting unit changes the detection range according to the driving state information acquired by the acquisition unit.

Effect of the Invention

[0007] According to the present invention, it is possible to appropriately set a detection range for detecting an intrusion of another vehicle into the own vehicle traveling lane, and improve the detection accuracy of the intrusion.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] Hereinafter, with reference to the accompanying drawings, embodiments of the vehicle detection device, vehicle detection method, and vehicle detection program disclosed in the present application will be described in detail. Note that the present invention is not limited by the embodiments shown below.

[0010] <Outline of Vehicle Detection Method by Vehicle Detection Device> First, hereinafter, the outline of the vehicle detection method by the vehicle detection device according to the embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing the outline of the vehicle detection method according to the embodiment.

[0011] The vehicle detection method according to the embodiment is executed, for example, by the vehicle detection device 10. Specifically, as shown in FIG. 1, the vehicle detection device 10 is mounted on a vehicle A such as an automobile.

[0012] Here, the vehicle A is the host vehicle, and hereinafter, the vehicle A may be described as the "host vehicle A". Also, in FIG. 1, the vehicle B is a vehicle other than the host vehicle A, and hereinafter, the vehicle B may be described as the "other vehicle B". Further, the host vehicle A travels on the host vehicle travel lane La, and the other vehicle B travels on the adjacent lane Lb adjacent to the host vehicle travel lane La. Note that the adjacent lane Lb can also be said to be an other vehicle travel lane in other words.

[0013] Incidentally, another vehicle B traveling in the adjacent lane Lb may cut into the own vehicle traveling lane La (see arrow G). Specifically, the other vehicle B may change lanes into the own vehicle traveling lane La in front of the own vehicle A and make a sudden cut-in.

[0014] Therefore, the vehicle detection device 10 according to the present embodiment is configured to detect the cut-in of the other vehicle B into the own vehicle traveling lane La and improve the detection accuracy of the cut-in.

[0015] Hereinafter, specifically explaining such a configuration, the vehicle detection device 10 sets a detection range C in the own vehicle traveling lane La in front of the own vehicle A (step S1). The detection range C is a virtual range for detecting the cut-in of the other vehicle B traveling in the adjacent lane Lb into the own vehicle traveling lane La. Note that the shape of the detection range C shown in FIG. 1 is a preset shape (an initially set shape).

[0016] When the other vehicle B changes lanes and moves into the detection range C, the vehicle detection device 10 detects the cut-in of the other vehicle B. Specifically, when it is determined that the lane change of the other vehicle B is a sudden cut-in made at a relatively close position from the own vehicle A, the vehicle detection device 10 detects the cut-in of the other vehicle B.

[0017] Here, if the above-described detection range C is not set appropriately, the cut-in of the other vehicle B cannot be detected, which may lead to a decrease in the detection accuracy of the cut-in. In FIG. 1, although the lane change of the other vehicle B should be determined to be a sudden cut-in, since the other vehicle B has not moved into the detection range C, an example is shown in which the vehicle detection device 10 cannot detect the cut-in of the other vehicle B.

[0018] Therefore, in the vehicle detection device 10 according to the present embodiment, driving state information regarding the driving state of the own vehicle A is acquired (step S2). An example of the driving state information is the speed of the own vehicle A or the like.

[0019] Next, the vehicle detection device 10 changes the detection range C according to the acquired driving state information (step S3). In the example of FIG. 1, the changed detection range is indicated by the symbol Ca. For example, the vehicle detection device 10 changes the detection distance in the front-rear direction of the host vehicle A in the detection range C according to the speed of the host vehicle A, which is the driving state information. Specifically, as the speed of the host vehicle A increases, the detection distance in the front-rear direction of the host vehicle A is changed to be longer. In other words, the vehicle detection device 10 changes so that the range (detection range C) in which it is determined that the lane change of the other vehicle B is a sudden interruption becomes longer as the speed of the host vehicle A increases.

[0020] In this way, in the present embodiment, the detection range C can be appropriately changed and set. In other words, the detection range C can be set to a range (changed detection range Ca) that conforms to the driving state of the host vehicle A.

[0021] Thereby, in the present embodiment, it is possible to accurately detect the intrusion of the other vehicle B into the host vehicle traveling lane La, and the detection accuracy of the intrusion can be improved. In the example of FIG. 1, the vehicle detection device 10 can detect the intrusion of the other vehicle B because the other vehicle B that has changed lanes moves within the detection range Ca by using the changed detection range Ca.

[0022] In addition, when the vehicle detection device 10 detects the above-described intrusion of the other vehicle B, for example, by notifying the driver of the host vehicle A, it is possible to prompt the driver to prepare for operations corresponding to the intrusion, such as preparing for a braking operation.

[0023] Note that, in the above, an example in which the driving state information is the speed of the host vehicle A has been shown, but the present invention is not limited to this. That is, the driving state information may include information on other types of driving states, such as the relative speed between the host vehicle A and the other vehicle B, in addition to or instead of the speed of the host vehicle A, which will be described later.

[0024] <Configuration of Vehicle Detection System> Next, the configuration of the vehicle detection system 1 including the vehicle detection device 10 according to the embodiment will be described with reference to FIG. 2. FIG. 2 is a block diagram showing a configuration example of the vehicle detection system 1 including the vehicle detection device 10. In the block diagram of FIG. 2, only the components necessary for explaining the features of the present embodiment are represented by functional blocks, and descriptions of general components are omitted.

[0025] In other words, each component shown in the block diagram of FIG. 2 is conceptually functional, and does not necessarily have to be physically configured as shown in the figure. For example, the specific form of the distribution and integration of each functional block is not limited to that shown in the figure, and all or part of them can be functionally or physically distributed and integrated in arbitrary units according to various loads, usage situations, etc.

[0026] As shown in FIG. 2, the vehicle detection system 1 includes a vehicle detection device 10, a camera 11, a GPS (Global Positioning System) device 12, a vehicle speed sensor 13, a steering angle sensor 14, and an output unit 15, and is mounted on the host vehicle A.

[0027] The camera 11 is installed at an appropriate position of the host vehicle A, and images the periphery of the host vehicle A, such as the front of the host vehicle A. The camera 11 is, for example, a camera including a lens and an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), but is not limited thereto. The camera 11 outputs the captured image to the vehicle detection device 10.

[0028] The GPS device 12 measures the current location of the host vehicle A (for example, the current driving position) based on the positioning signal transmitted from a GPS satellite (not shown). The GPS device 12 outputs a signal indicating the current location of the host vehicle A to the vehicle detection device 10.

[0029] The vehicle speed sensor 13 detects the speed of the host vehicle A and outputs a signal indicating the detected speed of the host vehicle A to the vehicle detection device 10. The steering angle sensor 14 detects the steering angle of the steering wheel (not shown) of the host vehicle A and outputs a signal indicating the detected steering angle to the vehicle detection device 10.

[0030] The output unit 15 outputs various types of information, such as a notification when an interruption of another vehicle B is detected. For example, the output unit 15 includes an audio output unit such as a speaker and a display unit such as a display, and outputs various types of information such as notifications to the driver of the host vehicle A.

[0031] The vehicle detection device 10 includes a control unit 20 and a storage unit 30. The control unit 20 includes an acquisition unit 21, a setting unit 22, and a detection unit 23. The storage unit 30 stores detection range information 31.

[0032] Here, the vehicle detection device 10 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a data flash, an input / output port, etc., and various circuits.

[0033] The CPU of the computer functions as the acquisition unit 21, the setting unit 22, and the detection unit 23 of the control unit 20 by, for example, reading and executing a program stored in the ROM.

[0034] Further, at least one or all of the acquisition unit 21, the setting unit 22, and the detection unit 23 of the control unit 20 can be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0035] Further, the memory unit 30 corresponds to, for example, a RAM or a data flash. The RAM and the data flash can store the detection range information 31 and information on various programs (such as a vehicle detection program). Note that the vehicle detection device 10 may acquire the above-described programs and various information via other computers connected by a wired or wireless network or a portable recording medium.

[0036] The detection range information 31 is information regarding a detection range for detecting an interruption of another vehicle B. For example, the detection range information 31 includes information regarding a detection range (such as a detection distance and a detection width described later) that changes according to the driving state information of the host vehicle A, but is not limited thereto. Note that the change in the detection range based on the detection range information 31 will be described later with reference to FIG. 3 and subsequent figures.

[0037] <Configuration of Vehicle Detection Device> Subsequently, the vehicle detection device 10 will be described. The acquisition unit 21 of the control unit 20 acquires driving state information regarding the driving state of the host vehicle A. For example, the acquisition unit 21 can acquire the speed of the host vehicle A (host vehicle speed) as the driving state information. Specifically, the acquisition unit 21 acquires a signal indicating the speed of the host vehicle A output from the vehicle speed sensor 13, and outputs the acquired speed of the host vehicle A to the setting unit 22.

[0038] Further, the acquisition unit 21 can acquire the relative speed between the host vehicle A and another vehicle B as the driving state information. As an example, the acquisition unit 21 analyzes the captured image captured by the camera 11, calculates and acquires the relative speed with another vehicle B traveling in the adjacent lane Lb. Then, the acquisition unit 21 outputs the acquired relative speed between the host vehicle A and another vehicle B to the setting unit 22.

[0039] Note that in the above, the acquisition unit 21 acquires the relative speed between the host vehicle A and another vehicle B from the captured image by the camera 11, but is not limited thereto. For example, the relative speed may be acquired using other devices such as a millimeter-wave radar.

[0040] In addition, the acquisition unit 21 can acquire the curvature of the own-vehicle traveling lane La as driving state information. Specifically, the acquisition unit 21 can acquire the curvature of the own-vehicle traveling lane La when the own-vehicle traveling lane La is a curved road.

[0041] For example, the acquisition unit 21 acquires the current location (current traveling position) of the own-vehicle A based on the output of the GPS device 12. In addition, the acquisition unit 21 acquires map information from an external server (not shown) or a storage unit 30 stored in advance. Then, the acquisition unit 21 acquires the curvature of the own-vehicle traveling lane La during traveling based on the acquired current location of the own-vehicle A and the map information, and outputs the acquired curvature of the own-vehicle traveling lane La to the setting unit 22.

[0042] Note that in the above, the acquisition unit 21 acquires the curvature based on the output of the GPS device 12 or the like, but is not limited thereto. For example, other methods may be used, such as analyzing an imaging image captured by the camera 11 to acquire the curvature from the shape of a dividing line that divides the own-vehicle traveling lane La.

[0043] In addition, the acquisition unit 21 can acquire the position of the own-vehicle traveling lane La with respect to the adjacent lane Lb as driving state information. Here, the position of the own-vehicle traveling lane La is the position of the own-vehicle traveling lane La with respect to the adjacent lane Lb when the own-vehicle traveling lane La and the adjacent lane Lb are curved roads. Specifically, it means whether the own-vehicle traveling lane La is located inside or outside the curved road with respect to the adjacent lane Lb.

[0044] For example, the acquisition unit 21 analyzes an imaging image captured by the camera 11 to acquire the position of the own-vehicle traveling lane La with respect to the adjacent lane Lb, and outputs the acquired position of the own-vehicle traveling lane La to the setting unit 22.

[0045] In the above description, the acquisition unit 21 acquires the position of the own vehicle traveling lane La based on the captured image by the camera 11. However, the present invention is not limited to this. For example, other methods may be used, such as acquiring the position of the own vehicle traveling lane La based on the current location (current traveling position) of the own vehicle A, which is the output of the GPS device 12, and the map information.

[0046] In addition, the acquisition unit 21 can acquire the steering angle of the own vehicle A as operation state information. For example, the acquisition unit 21 acquires a signal indicating the steering angle output from the steering angle sensor 14, and outputs the acquired steering angle of the own vehicle A to the setting unit 22.

[0047] In the above description, the acquisition unit 21 acquires a plurality of pieces of information such as the speed of the own vehicle A and the relative speed between the own vehicle A and another vehicle B. However, it is not necessary to acquire all of these pieces of information, and a configuration that acquires a part of them may be used. That is, the acquisition unit 21 may be configured to acquire at least any one of the speed of the own vehicle A, the relative speed between the own vehicle A and another vehicle B, the curvature of the own vehicle traveling lane La, the position of the own vehicle traveling lane La with respect to the adjacent lane Lb, and the steering angle of the own vehicle A as operation state information.

[0048] By using such operation state information, in the setting unit 22 described later, it becomes possible to set the detection range to a range that more closely matches the operation state of the own vehicle A.

[0049] The setting unit 22 sets a detection range C (see FIG. 1) for detecting an intrusion of another vehicle B into the own vehicle traveling lane La in front of the own vehicle A. Then, after setting the detection range C, the setting unit 22 changes the detection range C according to the operation state information acquired by the acquisition unit 21.

[0050] Thereby, in the present embodiment, the detection range C can be appropriately changed and set. In other words, since the detection range C can be set to a range that matches the operation state of the own vehicle A, the detection accuracy of the intrusion of another vehicle B into the own vehicle traveling lane La can be improved.

[0051] Next, the change in the detection range C according to the driving state information will be described in detail. The setting unit 22 changes the detection range C based on the acquired driving state information and the detection range information 31 in the storage unit 30.

[0052] First, with reference to FIG. 3, the change in the detection range C when the driving state information is the speed of the host vehicle A will be described. FIG. 3 is a diagram for explaining the change in the detection range C according to the speed of the host vehicle A.

[0053] As shown in FIG. 3, the setting unit 22 changes the detection distance D in the front-rear direction of the host vehicle A in the detection range C according to the speed of the host vehicle A. For example, when the speed of the host vehicle A increases beyond a preset reference speed, the setting unit 22 changes the detection distance D in the front-rear direction of the host vehicle A to increase as the speed increases. That is, the setting unit 22 changes the detection distance D11 of the changed detection range C11 to be longer than the detection distance D before the change (D11 > D). The reference speed is set to a value indicating the speed of the host vehicle A suitable for the initially set detection range C, but is not limited thereto and can be set to any value.

[0054] In this way, when the speed of the host vehicle A increases and it travels at a relatively high speed, the setting unit 22 changes the range (detection range C) for determining that a lane change of the other vehicle B is a sudden interruption to be longer. Thereby, in the present embodiment, it is possible to set the detection range C11 in accordance with the driving state in which the speed of the host vehicle A has increased.

[0055] On the other hand, for example, when the speed of the host vehicle A decreases below the reference speed, the setting unit 22 changes the detection distance D in the front-rear direction of the host vehicle A to decrease as the speed decreases. That is, the setting unit 22 changes the detection distance D12 of the changed detection range C12 to be shorter than the detection distance D before the change (D12 < D). Also, when the host vehicle A is stopped, the interruption determination of the other vehicle B may not be performed (D12 = 0).

[0056] In this way, when the speed of the host vehicle A decreases and it runs at a relatively low speed, the setting unit 22 changes the range (detection range C) for determining that a lane change of the other vehicle B is a sudden interruption so as to be shortened. As a result, in the present embodiment, it is possible to set the detection range C12 according to the driving state in which the speed of the host vehicle A has decreased.

[0057] Next, with reference to FIG. 4, the change in the detection range C when the driving state information is the relative speed between the host vehicle A and the other vehicle B will be described. FIG. 4 is a diagram for explaining the change in the detection range C according to the relative speed between the host vehicle A and the other vehicle B.

[0058] As shown in FIG. 4, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A in the detection range C according to the relative speed between the host vehicle A and the other vehicle B. For example, when the absolute value of the relative speed is less than a preset reference relative speed and decreases, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A to increase as the relative speed decreases. That is, the setting unit 22 changes the detection distance D21 of the changed detection range C21 to be longer than the detection distance D before the change (D21 > D). The reference relative speed is set to a value indicating a relative speed suitable for the initially set detection range C, but is not limited thereto and can be set to any value.

[0059] In this way, when the relative speed between the host vehicle A and the other vehicle B decreases and they run in a state where the speed of the host vehicle A and the speed of the other vehicle B are relatively close, the setting unit 22 changes the range (detection range C) for determining that a lane change of the other vehicle B is a sudden interruption so as to be lengthened. As a result, in the present embodiment, it is possible to set the detection range C21 according to the driving state in which the relative speed between the host vehicle A and the other vehicle B has decreased.

[0060] On the other hand, for example, when the absolute value of the relative speed increases beyond the reference relative speed, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A to decrease as the relative speed increases. That is, the setting unit 22 changes the detection distance D22 of the changed detection range C22 to be shorter than the detection distance D before the change (D22 < D).

[0061] In this way, when the relative speed between the host vehicle A and the other vehicle B increases and the host vehicle A and the other vehicle B are running in a state where their speeds are relatively far apart, the setting unit 22 changes the range (detection range C) for determining that a lane change of the other vehicle B is a sudden interruption to be shorter. Thereby, in the present embodiment, it is possible to set the detection range C22 according to the driving state in which the relative speed between the host vehicle A and the other vehicle B has increased.

[0062] In this way, the setting unit 22 changes the detection distance D in the longitudinal direction of the host vehicle A in the detection range C according to the driving state information, that is, the speed of the host vehicle A and the relative speed between the host vehicle A and the other vehicle B. Thereby, the setting unit 22 can set an appropriate detection range according to the driving state such as the speed and relative speed of the host vehicle A.

[0063] Next, the change of the detection range C when the host vehicle traveling lane La and the adjacent lane Lb are curved roads will be described with reference to FIGS. 5 to 14. The examples in FIGS. 5 to 9 show the case where the host vehicle traveling lane La is located inside the curved road with respect to the adjacent lane Lb, and the examples in FIGS. 10 to 14 show the case where the host vehicle traveling lane La is located outside the curved road with respect to the adjacent lane Lb.

[0064] First, with reference to FIG. 5, the change of the detection range C when the driving state information includes the curvature of the host vehicle traveling lane La and the fact that the host vehicle traveling lane La is located inside the curved road with respect to the adjacent lane Lb will be described. FIG. 5 is a diagram for explaining the change of the detection range C according to the curvature of the host vehicle traveling lane La and the like.

[0065] As shown in FIG. 5, for example, in the host vehicle travel lane La in front of the host vehicle A, as described above, a detection range C that is initially set is set. At this time, for example, when the host vehicle A enters a curved road, depending on the shape of the curved road, a part of the detection range C may protrude into the adjacent lane Lb and overlap with the adjacent lane Lb. Specifically, depending on the degree of curvature (for example, curvature) of the curved road, a part of the detection range C overlaps with the adjacent lane Lb located outside the curved road, and the overlapping range also increases as the curvature of the curved road increases. For this reason, for example, even when the other vehicle B is traveling in the adjacent lane Lb, it may enter the overlapping detection range C, and as a result, although the other vehicle B has not cut into the host vehicle travel lane La, there is a possibility that the vehicle detection device 10 may erroneously detect the intrusion of the other vehicle B.

[0066] Therefore, the setting unit 22 is configured to change the detection range C according to the curvature of the host vehicle travel lane La. For example, when the curvature is relatively large exceeding a preset reference curvature, the setting unit 22 changes the detection distance D in the front-rear direction of the host vehicle A according to the curvature. That is, the setting unit 22 changes the detection range C31 so that the detection distance D31 of the changed detection range C31 is shorter than the detection distance D before the change (D31 < D). The reference curvature is a value indicating a curvature suitable for the initially set detection range C, and is set to a value at which it is estimated that a part of the detection range C does not overlap with the adjacent lane Lb, but is not limited thereto and can be set to any value.

[0067] Thereby, in the present embodiment, it is possible to set the detection range C31 in accordance with the curvature of the host vehicle travel lane La in the driving state, and it becomes difficult for a part of the detection range C31 to overlap with the adjacent lane Lb. Therefore, it is possible to suppress the erroneous detection of the intrusion of the other vehicle B as described above.

[0068] In the above description, by changing the detection distance D, false detection of the intrusion of the other vehicle B is suppressed, but it is not limited to this. Hereinafter, other examples of changing the detection range C for suppressing false detection of the intrusion of the other vehicle B will be described with reference to FIGS. 6 to 9. FIGS. 6 to 9 are diagrams for explaining other examples of changing the detection range C.

[0069] As shown in FIG. 6, the setting unit 22 changes the detection width E in the vehicle width direction of the host vehicle A in the detection range C according to the curvature of the host vehicle traveling lane La. Specifically, when the curvature is relatively large exceeding the reference curvature, the setting unit 22 changes the detection width E so as to become smaller toward the inside of the curve road according to the curvature (changes to narrow toward the inside of the curve road). That is, the setting unit 22 changes the detection width E32 of the changed detection range C32 to be smaller than the detection width E before the change (E32 < E).

[0070] Thereby, in the present embodiment, it is possible to set the detection range C32 according to the curvature of the host vehicle traveling lane La which is the driving state, and it becomes difficult for a part of the detection range C32 to overlap with the adjacent lane Lb. Therefore, it is possible to suppress false detection of the intrusion of the other vehicle B as described above.

[0071] Also, as shown in FIG. 7, the setting unit 22 displaces the detection range C toward the inside of the curve road according to the curvature of the host vehicle traveling lane La. Specifically, when the curvature is relatively large exceeding the reference curvature, the setting unit 22 changes the position of the detection range C toward the inside of the curve road according to the curvature, in other words, shifts it toward the inside of the curve road. In the example of FIG. 7, the changed detection range is indicated by reference numeral C33.

[0072] Thereby, in the present embodiment, it is possible to set the detection range C33 according to the curvature of the host vehicle traveling lane La which is the driving state, and it becomes difficult for a part of the detection range C33 to overlap with the adjacent lane Lb. Therefore, it is possible to suppress false detection of the intrusion of the other vehicle B as described above.

[0073] Also, as shown in FIG. 8, the setting unit 22 changes the angle of the detection range C with respect to the longitudinal direction of the host vehicle A according to the steering angle of the host vehicle A. Here, since the host vehicle A is traveling on a curved road, the host vehicle A is steered toward the inside of the curved road. Therefore, the detection range C is shifted inward of the curved road at the tip side Cx according to the steering angle. In the example of FIG. 8, the changed detection range is indicated by reference numeral C34.

[0074] Accordingly, in the present embodiment, it is possible to set the detection range C34 in accordance with the steering angle of the host vehicle A in the driving state, and it is less likely that a part of the detection range C34 overlaps with the adjacent lane Lb. Therefore, it is possible to suppress the erroneous detection of the intrusion of the other vehicle B as described above.

[0075] Also, as shown in FIG. 9, the setting unit 22 changes the shape of the detection range C so that the detection range C is located inside the dividing line F that divides both sides of the host vehicle traveling lane La. For example, the setting unit 22 analyzes the captured image by the camera 11 to detect the dividing line F that divides the host vehicle traveling lane La, and changes the shape of the detection range C to a shape located inside the detected dividing lines F on both sides. In the example of FIG. 9, the changed detection range is indicated by reference numeral C35.

[0076] Accordingly, in the present embodiment, it is possible to set the detection range C35 along the dividing lines F on both sides, and a part of the detection range C35 does not overlap with the adjacent lane Lb. Therefore, it is possible to suppress the erroneous detection of the intrusion of the other vehicle B as described above.

[0077] In the above description of FIGS. 5 to 9, for convenience of understanding, the examples of the change of the detection range C have been individually described, but these various changes of the detection range C can be appropriately combined. That is, for example, by combining the examples of FIGS. 5 to 7, the setting unit 22 may change the detection range C so as to shorten the detection distance D, reduce the detection width E, and displace the detection range C inward of the curved road according to the curvature of the host vehicle traveling lane La.

[0078] Further, even when the own vehicle traveling lane La is a curved road, the setting unit 22 may change the detection distance D in the longitudinal direction of the own vehicle A within the detection range C according to the speed of the own vehicle A, which is driving state information, and the relative speed between the own vehicle A and the other vehicle B.

[0079] Subsequently, a case where the own vehicle A travels on the outside of a curved road will be described. Specifically, with reference to FIG. 10, the change in the detection range C in the case where the driving state information includes the curvature of the own vehicle traveling lane La and the position of the own vehicle traveling lane La with respect to the adjacent lane Lb being outside the curved road will be described. FIG. 10 is a diagram for explaining the change in the detection range C according to the curvature of the own vehicle traveling lane La and the like.

[0080] As shown in FIG. 10, for example, it is assumed that an initially set detection range C is set in the own vehicle traveling lane La in front of the own vehicle A. At this time, for example, when the own vehicle A enters a curved road, depending on the shape of the curved road, a part of the detection range C may be excessively separated from the adjacent lane Lb. Specifically, depending on the degree of curvature (for example, curvature) of the curved road, the vicinity of the tip side Cx of the detection range C may be separated from the adjacent lane Lb. At this time, for example, if the other vehicle B changes lanes to the own vehicle traveling lane La and makes a sudden cut-in from a position where a part of the detection range C is separated from the adjacent lane Lb, the other vehicle B may not enter the detection range C, that is, there is a possibility that the cut-in of the other vehicle B cannot be detected, that is, it may not be detected.

[0081] Therefore, the setting unit 22 changes the detection range C according to the curvature of the own vehicle traveling lane La. For example, when the curvature is relatively large and exceeds the reference curvature, the setting unit 22 changes the detection distance D in the longitudinal direction of the own vehicle A according to the curvature so as to be longer. That is, the setting unit 22 changes the detection distance D41 of the changed detection range C41 to be longer than the detection distance D before the change (D41 > D). Here, the reference curvature is a value indicating a curvature suitable for the initially set detection range C, and is set to a value that is estimated that a part of the detection range C does not excessively separate from the adjacent lane Lb, but is not limited to this and can be set to any value.

[0082] Accordingly, in the present embodiment, it is possible to set the detection range C41 according to the curvature of the host vehicle driving lane La in the driving state. Therefore, in the example of FIG. 10, when the other vehicle B makes a sudden intrusion into the host vehicle driving lane La, it enters the detection range C41 and the intrusion can be detected. That is, it is possible to suppress the above-described situation where the intrusion of the other vehicle B is not detected.

[0083] In the above, the undetected intrusion of the other vehicle B is suppressed by changing the detection distance D, but the present invention is not limited to this. Hereinafter, other examples of changing the detection range C for suppressing the undetected intrusion of the other vehicle B will be described with reference to FIGS. 11 to 14. FIGS. 11 to 14 are diagrams for explaining other examples of changing the detection range C.

[0084] As shown in FIG. 11, the setting unit 22 changes the detection width E in the vehicle width direction of the host vehicle A in the detection range C according to the curvature of the host vehicle driving lane La. Specifically, when the curvature is relatively large exceeding the reference curvature, the setting unit 22 changes the detection width E to increase toward the inside of the curved road according to the curvature (changes to expand toward the inside of the curved road). That is, the setting unit 22 changes the detection width E42 of the changed detection range C42 to be larger than the detection width E before the change (E42>E).

[0085] Accordingly, in the present embodiment, it is possible to set the detection range C42 according to the curvature of the host vehicle driving lane La in the driving state, and a part of the detection range C42 is less likely to move away from the adjacent lane Lb. Therefore, it is possible to suppress the above-described situation where the intrusion of the other vehicle B is not detected.

[0086] Also, as shown in FIG. 12, the setting unit 22 displaces the detection range C toward the inside of the curved road according to the curvature of the host vehicle driving lane La. Specifically, when the curvature is relatively large exceeding the reference curvature, the setting unit 22 changes the position of the detection range C toward the inside of the curved road according to the curvature. In other words, the setting unit 22 shifts the detection range C toward the inside of the curved road. In the example of FIG. 12, the changed detection range is indicated by reference numeral C43.

[0087] Accordingly, in the present embodiment, it is possible to set the detection range C43 according to the curvature of the own vehicle travel lane La in the driving state, and a part of the detection range C43 is less likely to move away from the adjacent lane Lb. Therefore, it is possible to suppress the above-described situation where the intrusion of the other vehicle B is not detected.

[0088] Also, as shown in FIG. 13, the setting unit 22 changes the angle of the detection range C with respect to the longitudinal direction of the own vehicle A according to the steering angle of the own vehicle A. Here, since the own vehicle A is traveling on a curved road, the own vehicle A is steered toward the inside of the curved road. Therefore, the tip side Cx of the detection range C is shifted toward the inside of the curved road according to the steering angle. In the example of FIG. 13, the changed detection range is indicated by reference numeral C44.

[0089] Accordingly, in the present embodiment, it is possible to set the detection range C44 according to the steering angle of the own vehicle A in the driving state, and a part of the detection range C44 is less likely to move away from the adjacent lane Lb. Therefore, it is possible to suppress the above-described situation where the intrusion of the other vehicle B is not detected.

[0090] Also, as shown in FIG. 14, the setting unit 22 changes the shape of the detection range C so that the detection range C is located inside the dividing line F that divides both sides of the own vehicle travel lane La. In the example of FIG. 14, the changed detection range is indicated by reference numeral C45.

[0091] Accordingly, in the present embodiment, it is possible to set the detection range C45 along the dividing lines F on both sides, and a part of the detection range C45 does not move away from the adjacent lane Lb. Therefore, it is possible to suppress the above-described situation where the intrusion of the other vehicle B is not detected.

[0092] In the descriptions of FIGS. 10 to 14 above, for the sake of convenience of understanding, examples of changes in the detection range C were individually described. However, these various changes in the detection range C can be combined as appropriate. That is, for example, by combining the examples of FIGS. 10 to 12, the setting unit 22 may change the detection range C such that the detection distance D is increased, the detection width E is increased, and the detection range C is displaced toward the inside of the curved road according to the curvature of the own vehicle traveling lane La.

[0093] Also, in the above, an example in which the detection range is changed according to the driving state information of the own vehicle A was shown. However, such driving state information is not limited to the vehicle speed of the own vehicle A. That is, for example, when it is acquired as driving state information that the own vehicle traveling lane La is an overtaking lane on a highway or the like, the setting unit 22 may change the detection distance in the front-rear direction of the own vehicle A to be long because it is estimated that the speed of the own vehicle A is relatively high. That is, when the own vehicle A is traveling in the overtaking lane, the range (detection range C) for determining that a lane change of the other vehicle B is a sudden interruption may be changed to be long.

[0094] Also, for example, when the inclination state of the own vehicle traveling lane La is acquired as driving state information, the setting unit 22 may change the detection distance in the front-rear direction of the own vehicle A according to the inclination state. As an example, when the inclination state of the own vehicle traveling lane La is a downward inclination (i.e., a downhill slope), the setting unit 22 may change the detection distance to be long because the speed of the own vehicle A is likely to increase. On the other hand, when the inclination state of the own vehicle traveling lane La is an upward inclination (i.e., an uphill slope), the setting unit 22 may change the detection distance to be short because the speed of the own vehicle A is likely to decrease.

[0095] Returning to the description of FIG. 2, the detection unit 23 detects an intrusion of the other vehicle B into the own vehicle's travel lane La. For example, the detection unit 23 analyzes the captured image captured by the camera 11 to detect the other vehicle B. Then, when the detected other vehicle B enters the detection range set or changed by the setting unit 22, the detection unit 23 determines that the other vehicle B has changed lanes and that such a lane change is a sudden intrusion made at a relatively close position from the own vehicle A, and detects the intrusion of the other vehicle B.

[0096] When the detection unit 23 detects an intrusion of the other vehicle B, it can notify the driver of the own vehicle A. For example, the detection unit 23 transmits a signal indicating that it has detected an intrusion of the other vehicle B to the output unit 15, and notifies the intrusion of the other vehicle B via the voice output unit or the display unit which is the output unit 15. Thereby, it becomes possible to prompt the driver to prepare for an operation in response to the intrusion, such as preparing for a braking operation.

[0097] Note that the processing when detecting an intrusion of the other vehicle B is not limited to the above notification to the driver, and other processing may be performed. That is, when the detection unit 23 detects an intrusion of the other vehicle B, for example, it outputs an instruction signal to the drive recorder to record the captured image in a state where overwriting to the storage unit 30 is prohibited, and performs processing such as saving the captured image of the intruding other vehicle B. Note that, for example, the vehicle detection device 10, the camera 11, etc. may function as part of the drive recorder.

[0098] Here, even when the other vehicle B enters the detection range C, it may not be an intrusion of the other vehicle B. In such a case, the detection unit 23 according to the present embodiment does not determine it as an intrusion of the other vehicle B. This will be described with reference to FIG. 15. FIG. 15 is a diagram for explaining the intrusion determination process in the detection unit 23.

[0099] As shown in FIG. 15, it is assumed that the host vehicle A and the other vehicle B are traveling in the same lane (here, the host vehicle traveling lane La). When the other vehicle B enters from the tip side Cx of the detection range C, since it is not an intrusion of the other vehicle B, the detection unit 23 does not determine that it is an intrusion of the other vehicle B. In other words, it prohibits determining that it is an intrusion of the other vehicle B.

[0100] As a result, the detection unit 23 does not determine that it is an intrusion with respect to the other vehicle B traveling in the same lane, and thus can accurately detect the intrusion of the other vehicle B traveling in the adjacent lane Lb into the host vehicle traveling lane La.

[0101] <Control Process of Vehicle Detection Device According to Embodiment> Next, a specific processing procedure in the vehicle detection device 10 will be described with reference to FIG. 16. FIG. 16 is a flowchart showing the processing procedure executed by the vehicle detection device 10.

[0102] As shown in FIG. 16, the control unit 20 of the vehicle detection device 10 sets the detection range C in the host vehicle traveling lane La in front of the host vehicle A (step S10). Next, the control unit 20 acquires driving state information regarding the driving state of the host vehicle A (step S11). Next, the control unit 20 changes the detection range C according to the acquired driving state information (step S12).

[0103] Next, the control unit 20 determines whether or not a sudden intrusion of the other vehicle B has been detected, for example, by the other vehicle B entering the set or changed detection range (step S13). When it is determined that the intrusion of the other vehicle B has been detected (step S13, Yes), the control unit 20 executes an intrusion countermeasure process such as notifying the driver of the host vehicle A (step S14).

[0104] On the other hand, when it is determined that the intrusion of the other vehicle B has not been detected (step S13, No), the control unit 20 returns to step S11 and executes the processes after step S11.

[0105] As described above, the vehicle detection device 10 according to the embodiment includes a setting unit 22 and an acquisition unit 21. The setting unit 22 sets a detection range C for detecting an intrusion of another vehicle B traveling in an adjacent lane Lb adjacent to the host vehicle traveling lane La in which the host vehicle A travels into the host vehicle traveling lane La. The acquisition unit 21 acquires driving state information regarding the driving state of the host vehicle A. Further, the setting unit 22 changes the detection range C according to the driving state information acquired by the acquisition unit 21. Thereby, it is possible to appropriately set the detection range C for detecting the intrusion of the other vehicle B into the host vehicle traveling lane La and improve the detection accuracy of the intrusion.

[0106] In the above-described embodiment, the setting of the detection range for detecting the intrusion of the other vehicle B using the captured image of the camera 11 has been described. However, the detection range is not limited to the above. That is, the vehicle detection device 10 according to the present embodiment can also be applied to the setting of the detection range for detecting the intrusion of the other vehicle B using other devices such as a radar device.

[0107] Further effects and modification examples can be easily derived by those skilled in the art. For this reason, the broader aspects of the present invention are not limited to the specific details and representative embodiments represented and described as above. Therefore, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Reference Numerals

[0108] 1 Vehicle detection system 10 Vehicle detection device 20 Control unit 21 Acquisition unit 22 Setting unit 23 Detection unit

Claims

1. A vehicle detection device that detects an intrusion of another vehicle traveling in an adjacent lane adjacent to the own-vehicle traveling lane in which the own vehicle travels into the own-vehicle traveling lane, the vehicle detection device having a control unit, The control unit, When the other vehicle is moving away from the own vehicle, shortens the detection range in the traveling direction of the own vehicle. Vehicle detection device.

2. The control unit, Obtains information regarding the steering angle of the own vehicle, Changes the direction of the detection range in accordance with the steering angle. The vehicle detection device according to claim 1.

3. The control unit, Sets the detection range so that the detection range is located inside a dividing line that divides both sides of the own-vehicle traveling lane. The vehicle detection device according to claim 1 or 2.

4. A vehicle detection program that detects an intrusion of another vehicle traveling in an adjacent lane adjacent to the own-vehicle traveling lane in which the own vehicle travels into the own-vehicle traveling lane, When the other vehicle is moving away from the own vehicle, a process of shortening the detection range in the traveling direction of the own vehicle A vehicle detection program that causes a computer to execute.

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