Periphery monitoring device and program

Abstract

A periphery monitoring device (30): is applied to a vehicle provided with a distance measuring sensor (21) for transmitting an exploratory wave and receiving a reflected wave of the exploratory wave; sets an alert region behind a host vehicle (40); and if an object is detected in the alert region by means of the distance measuring sensor, causes a collision suppression action to be performed to suppress a collision with the object. The periphery monitoring device comprises: an acquiring unit for acquiring demarcation information indicating the presence of a demarcation line in a lane; a recognizing unit for recognizing a position of the demarcation line on the basis of the demarcation information; and an alert region setting unit for setting the alert region on the basis of the position of the demarcation line recognized by the recognizing unit.

Description

Cross - reference to related applications

[0001] This application is based on Japanese Application No. 2022 - 018285 filed on February 8, 2022, the contents of which are incorporated herein by reference.

Technical Field

[0002] The disclosure of this specification relates to a peripheral monitoring device and a program.

Background Art

[0003] As a peripheral monitoring device, when using a ranging sensor such as a radar and detecting another vehicle or the like by the ranging sensor within a warning area set at the rear - side of the host vehicle, collision avoidance operations such as notifying the driver of the presence of the other vehicle are known. For example, Patent Document 1 discloses a technique of setting an area within a predetermined distance in the vehicle - width direction as a warning area based on the traveling locus of the host vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] However, in the existing technology, since the warning area is set within a fixed range based on the host vehicle, when the width of each lane on the road is narrow, or when the host vehicle travels deviating in the direction approaching the adjacent lane, it is conceivable that the warning area may extend into the next - adjacent lane on the opposite side of the host lane with respect to the adjacent lane. In this case, there is a concern that unnecessary collision avoidance operations may be performed on the vehicle traveling in the next - adjacent lane. Also, when the host vehicle deviates in the direction away from the adjacent lane in the host lane, a part of the adjacent lane may be outside the warning area, and there is a concern that the collision avoidance operation for the vehicle traveling in the adjacent lane may not be activated.

[0006] The present disclosure has been made in view of the above problems, and an object thereof is to provide a peripheral monitoring device and a program capable of appropriately setting a warning area and, as a result, appropriately performing a collision suppression operation.

[0007] A first peripheral monitoring device is applied to a vehicle including a ranging sensor that transmits a probing wave and receives a reflected wave of the probing wave, and is a peripheral monitoring device that sets a warning area at a rear side of the host vehicle, and performs a collision suppression operation to suppress a collision with an object when the object is detected by the ranging sensor within the warning area, comprising an acquisition unit that acquires lane division information indicating the presence of a division line in a lane, a recognition unit that recognizes the position of the division line based on the division information, and a warning area setting unit that sets the warning area based on the position of the division line recognized by the recognition unit.

[0008] In a peripheral monitoring device that performs a collision suppression operation based on a detection result of an object by a ranging sensor in a warning area at the rear side of the host vehicle, there is a concern that the collision suppression operation may be improperly performed due to an incorrect setting of the warning area. In this regard, lane division information indicating the presence of a division line in a lane is acquired, and the warning area is set based on the position of the division line recognized based on the division information. In this case, if the position of each division line can be recognized on the road on which the host vehicle is traveling, the adjacent lane or the like divided by the division line can be correctly grasped. As a result, it is possible to suppress an unnecessary collision suppression operation against another vehicle traveling in an adjacent lane and a non-operation of the collision suppression operation against another vehicle traveling in an adjacent lane. As a result, the warning area can be appropriately set, and as a result, the collision suppression operation can be appropriately performed.

[0009] A second peripheral monitoring device is applied to a vehicle including a ranging sensor that transmits a probing wave and receives a reflected wave of the probing wave, A peripheral monitoring device that sets a warning area on the rear side of the host vehicle and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measuring sensor within the warning area. An acquisition unit that acquires lane information indicating the presence of lane lines in the lane. A warning area setting unit that sets the warning area based on the lane information of the lane line that moves away from or approaches the host vehicle when the host vehicle changes lanes.

[0010] When the host vehicle changes lanes, the warning area is set based on the lane information of the lane line that moves away from or approaches the host vehicle. As a result, during the lane change of the host vehicle, unnecessary collision suppression operations against other vehicles traveling in other lanes around the host vehicle can be suppressed. As a result, the warning area can be set appropriately, and thus the collision suppression operation can be carried out appropriately.

Brief Description of the Drawings

[0011] The above objects, other objects, features, and advantages of the present disclosure will become clearer from the following detailed description with reference to the accompanying drawings. The drawings are

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0012] (First Embodiment) Hereinafter, a first embodiment in which a peripheral monitoring device according to the present disclosure is embodied will be described with reference to the drawings.

[0013] As shown in FIG. 1, a peripheral monitoring system 10 according to the embodiment includes a radar device 21, an imaging device 22, a vehicle speed sensor 23, a steering angle sensor 24, a yaw rate sensor 25, a receiving device 26, an alarm device 27, and an ECU 30. In the present embodiment, the radar device 21 corresponds to a detection device, and the ECU 30 corresponds to a peripheral monitoring device.

[0014] The radar device 21 is, for example, a known millimeter-wave radar that uses a high-frequency signal in the millimeter-wave band as a transmission wave. The radar device 21 is provided, for example, at the rear end portion of the host vehicle, and sets an area within a predetermined detection angle as a detection range in which an object can be detected, and detects the position of an object within the detection range. Specifically, a search wave is transmitted at a predetermined cycle, and a reflected wave is received by a plurality of antennas. The distance to the object can be calculated from the transmission time of this search wave and the reception time of the reflected wave. In addition, the relative speed can be calculated from the frequency changed by the Doppler effect of the reflected wave reflected by the object. In addition, the azimuth of the object can be calculated from the phase difference of the reflected waves received by the plurality of antennas. Note that if the position and azimuth of the object can be calculated, the relative position of the object with respect to the host vehicle can be specified. The radar device 21 corresponds to a distance measurement sensor.

[0015] As shown in FIG. 2, the radar devices 21 are installed one on each side of the left and right at the rear end portion of the host vehicle 40, and detect objects behind and on the rear side of the host vehicle 40. The radar device 21L installed on the left side of the rear end portion of the host vehicle 40 detects an object in the detection area 70L. The radar device 21R installed on the right side of the rear end portion of the host vehicle 40 detects an object in the detection area 70R.

[0016] The imaging device 22 may be a monocular camera such as a CCD camera, a CMOS image sensor, a near-infrared camera, etc., or may be a stereo camera. The imaging device 22 may be installed only one on the host vehicle, or may be installed plural. The imaging device 22 is attached, for example, at a predetermined height at the center in the vehicle width direction of the vehicle, and images a region that spreads in a predetermined angle range toward the front or rear of the vehicle from an overhead viewpoint. The imaging device 22 sequentially outputs the captured images captured sequentially to the ECU 30.

[0017] The vehicle speed sensor 23 is a sensor that detects the traveling speed of the host vehicle 40, and outputs a traveling speed signal corresponding to the traveling speed of the host vehicle 40 to the ECU 30. The steering angle sensor 24 is a sensor that detects the steering angle of the steering wheel, and outputs a steering angle signal corresponding to the change in the steering angle to the ECU 30. The yaw rate sensor 25 is a sensor that detects the turning angular velocity of the host vehicle 40, and outputs a yaw rate signal corresponding to the turning angular velocity of the host vehicle 40 to the ECU 30.

[0018] The receiving device 26 is a receiving device for a positioning signal from a satellite positioning system, and is, for example, a GPS receiving device. The receiving device 26 receives a positioning signal corresponding to the current position of the host vehicle 40, and outputs the received positioning signal to the ECU 30.

[0019] The warning device 27 is a device for notifying a driver or the like, and examples include, but are not limited to, an auditory notification device such as a speaker or a buzzer installed in the passenger compartment of the host vehicle 40, a visual notification device such as a display, etc. The warning device 27 emits a warning sound or the like based on a control command from the ECU 30, and notifies, for example, the driver that there is a risk of collision with an object.

[0020] The functions provided by the ECU 30 can be provided by software recorded in a physical memory device and a computer that executes it, software only, hardware only, or a combination thereof. For example, when the ECU 30 is provided by an electronic circuit that is hardware, it can be provided by a digital circuit including a number of logic circuits or an analog circuit. For example, the ECU 30 executes a program stored in a non-transitory tangible storage medium as a storage unit provided therein. The program includes programs for each arithmetic process described later. When the program is executed, a method corresponding to the program is executed. The storage unit is, for example, a non-volatile memory. Note that the program stored in the storage unit can be updated via a network such as the Internet, for example.

[0021] The ECU 30 has a so-called blind spot monitor function, sets a warning area 71 at the rear side of the host vehicle 40, and when an object is detected by the radar device 21 within the warning area 71, performs a collision suppression operation to suppress a collision with the object. In the present embodiment, an alarm is issued by the alarm device 27 as the collision suppression operation. The warning area 71 is set as an area that is closer to the rear in the lateral direction of the host vehicle 40 and overlaps with the detection areas 70 (70L, 70R) of the respective radar devices 21. In the present embodiment, the warning area 71 is set in an adjacent lane adjacent to the lane in which the host vehicle 40 travels. Approaching objects include vehicles such as four-wheeled automobiles, motorcycles, bicycles, and pedestrians.

[0022] As shown in FIG. 3, warning areas 71 are set as warning areas 71L and 71R on the left and right sides of the host vehicle 40, respectively. Each of the warning areas 71L and 71R is a rectangular area defined based on the position of the host vehicle 40, and is provided in a range including a part of the rear end portion of the host vehicle 40 and the rear of the host vehicle 40 in the longitudinal direction of the host vehicle 40. The length in the longitudinal direction thereof is L1. Further, the width in the vehicle width direction is W1. The left and right warning areas 71L and 71R have the same shape and size. The length L1 of each of the warning areas 71L and 71R is, for example, about 5 to 10 m. The width W1 of the warning areas 71R and 71L is set to a fixed width according to the road width of each country. Note that the warning area 71 may be set in a range extending rearward from the rear end portion of the host vehicle 40.

[0023] The warning areas 71L and 71R shown in FIG. 3 are fixed areas with predetermined dimensions, and in the present embodiment, the warning areas 71L and 71R shown in FIG. 3 are used as base areas 71Lb and 71Rb.

[0024] Here, if the widths of the warning areas 71L and 71R are fixed, there is a concern that appropriate collision suppression operations may not be performed on other vehicles traveling in the adjacent lane or other vehicles traveling in the lane adjacent to the adjacent lane. That is, as shown in FIG. 4(a), on a road where the width of each lane is relatively narrow, when the host vehicle 40 travels in a direction biased toward the adjacent lane, it is conceivable that the warning area 71R may protrude beyond the adjacent lane into the lane adjacent to the adjacent lane. In this case, there is a concern that unnecessary collision suppression operations may be performed on other vehicles 41 in the lane adjacent to the adjacent lane.

[0025] Further, as shown in FIG. 4(b), when the width of the adjacent lane is wide and another vehicle 41 travels at a position away from the host vehicle 40 in the adjacent lane, if the host vehicle 40 is biased to the side away from the adjacent lane, it is conceivable that the other vehicle 41 may deviate from the warning area 71R. In this case, there is a concern that the collision suppression operation for the other vehicle 41 may not be activated.

[0026] Therefore, in the present embodiment, lane information indicating the presence of lane lines in each lane is acquired, the positions of the lane lines are recognized based on the lane information, and warning regions 71L and 71R are set based on the positions of the lane lines. Specifically, the ECU 30 acquires, as lane information, the lane lines recognized from the image of the imaging device 22, and recognizes the positions of the lane lines in each lane from the lane lines in the image. Then, the area from one lane line separating an adjacent lane to the other lane line is grasped as the area of the adjacent lane, and warning regions 71L and 71R are set within the area of the adjacent lane. The lane lines are white lines or yellow lines on the road surface.

[0027] In addition to the above, when the host vehicle 40 changes lanes, the host vehicle 40 approaches the lane to which it is changing lanes while moving away from the lane on the side opposite to the lane to which it is changing lanes. Therefore, there is a concern that unnecessary collision suppression operations may be performed on other vehicles traveling in other lanes around the host vehicle 40. Therefore, in the present embodiment, when the host vehicle 40 changes lanes, warning regions 71L and 71R are set based on the lane information of the lane lines moving away from or approaching the host vehicle 40. The procedure for setting the warning regions will be described in detail below.

[0028] FIG. 5 is a diagram showing the warning region 71R when the host vehicle 40 is traveling straight without changing lanes. FIG. 5 shows the host lane R1 and the adjacent right lane R2 having the same traveling direction, and the lane lines SL1 to SL3 separating these lanes R1 and R2. Further, the host vehicle 40 is traveling in the host lane R1, and the warning region 71R is set on the adjacent lane R2 side.

[0029] The ECU 30 sets a base region 71Rb of the warning region 71 at the rear side of the host vehicle 40. This base region 71Rb is set as a region having a predetermined dimension extending in the longitudinal direction and the width direction of the host vehicle 40 with reference to the position of the host vehicle 40 (see FIG. 3). In FIG. 5, the base region 71Rb is set at a position shifted to the left with respect to the adjacent lane R2.

[0030] Further, the ECU 30 recognizes the positions of the left and right lane lines SL2 and SL3 of the adjacent lane R2 from the image of the imaging device 22, grasps the adjacent lane R2 from the positions of these lane lines SL2 and SL3, and performs region correction on the adjacent lane R2 based on the regions where the base region 71Rb is surplus or deficient, thereby setting the warning region 71R. In FIG. 5, in the base region 71Rb, the portion protruding to the left from the left lane line SL2 of the adjacent lane R2 is the surplus region 72, and the portion shifted to the left with respect to the right lane line SL3 of the adjacent lane R2 is the deficient region 73. By performing region correction on the base region 71Rb using the surplus region 72 and the deficient region 73, the final warning region 71R is set. That is, the final warning region 71R is set by reducing the region by the surplus region 72 and increasing the region by the deficient region 73 with respect to the base region 71Rb.

[0031] In the warning region 71R, the horizontal end positions on the sides of the respective lane lines SL2 and SL3 are preferably the center positions in the width direction of the respective lane lines SL2 and SL3. However, the horizontal end positions of the warning region 71R may be the end positions in the width direction of the respective lane lines SL2 and SL3 (the end positions closer to or farther from the host vehicle lane R1).

[0032] The warning region 71R is set between the lane lines SL2 and SL3 in the adjacent lane R2. Thereby, even if the host vehicle 40 is in a posture inclined with respect to the extending direction of the host vehicle lane R1, the warning region 71R is appropriately set within the adjacent lane R2.

[0033] Next, the setting of the warning regions 71L and 71R when the host vehicle 40 changes lanes will be specifically described with reference to FIG. 6. In FIG. 6, the lane line SL12 corresponds to the lane line moving away from the host vehicle 40, and the lane lines SL13 and SL14 correspond to the lane lines approaching the host vehicle 40.

[0034] FIG. 6 is a diagram showing warning areas 71L and 71R when the host vehicle 40 changes lanes. In FIG. 6, first lane R11, second lane R12, third lane R13, and fourth lane R14 having the same traveling direction are shown, as well as division lines SL11 to SL15 that demarcate these lanes R11 to R14. Further, when the host vehicle 40 changes lanes from the second lane R12 to the third lane R13, a state in which the warning areas 71L and 71R change in time series in the order of time points A, B, C, and D during the lane change is shown.

[0035] In the present embodiment, when the host vehicle 40 changes lanes, it is temporarily switched from a first state in which warning areas 71L and 71R are set in the adjacent lanes on both the left and right sides to a second state in which warning areas 71L and 71R are set in two lanes on both sides of the division line crossed by the lane change. The details will be described below.

[0036] At time point A, warning areas 71L and 71R are set in the first lane R11 and the third lane R13, which are adjacent to both the left and right of the second lane R12 (the host lane). In this case, as described with reference to FIG. 5, the positions of the division lines SL11 to SL14 in the lanes R11 and R13 are recognized, and the warning areas 71L and 71R are set by region correction of the base areas 71RL and 71Rb based on the positions of those division lines SL11 to SL14.

[0037] At time point B, the host vehicle 40 is in a right-turning state. In this state, warning areas 71L and 71R are set in the second lane R12, which is the host lane before the lane change, and the third lane R13, which is the adjacent lane on the right. The state at time point A is the "first state", and the state at time point B is the "second state". In this case, based on the division information of the division line SL13 that crosses the host vehicle 40, it is temporarily switched from the state at time point A to the state at time point B.

[0038] In this case, in the second lane R12 (the own lane before lane change), the range from the lane line SL12 on the side opposite to the lane change destination to the own vehicle 40 is set as the warning area 71L in the second lane R12. More specifically, the warning area 71L in the second lane R12 is set between the lane line SL12 and a straight line extending parallel to the lane line SL12 from the position P1 which is the rearmost position on the side surface of the own vehicle 40. The warning area 71L in the second lane R12 is set based on the lane information of the lane line SL12 that moves away from the own vehicle 40.

[0039] Supplementing for time points A and B, at time point A, in the own lane before lane change, the warning area 71 is set outside the lane line SL12 on the side opposite to the lane change destination (the first state). Also, at time point B, in the own lane before lane change, the warning area 71 is set inside the lane line SL12 on the side opposite to the lane change destination (the second state). In this case, based on the lane information of the lane line SL12 that moves away from the own vehicle 40, it is temporarily switched from the state at time point A to the state at time point B.

[0040] Also, at time point B, in the third lane R13, a warning area 71R is set between the lane lines SL13 and SL14 on both sides of the third lane R13.

[0041] Note that at time point B, the longitudinal lengths of the respective warning areas 71L and 71R may be the same as before the lane change.

[0042] After that, at time point C, similar to time point B, warning areas 71L and 71R are set in the second lane R12 which is the own lane before lane change and the third lane R13 which is the right adjacent lane. In this case, the own vehicle 40 is in a state of straddling the lane line SL13 between the second lane R12 and the third lane R13. That is, the rear end portion of the own vehicle 40 enters the second lane R12 before lane change, and the front end portion enters the third lane R13 which is the lane change destination.

[0043] Therefore, the warning area 71L of the second lane R12 is set between the lane line SL12 and a straight line extending parallel to the lane line SL12 from the position P1 which is the most rear-end side on the side surface of the host vehicle 40. Also, the warning area 71R of the third lane R13 is set between the lane line SL14 and a straight line extending parallel to the lane line SL14 from the position P2 which is the most front-end side on the side surface of the host vehicle 40. The warning area 71R of the third lane R13 is set based on the lane information of the lane line SL14 approaching the host vehicle 40.

[0044] Note that at time points B and C, the longitudinal lengths of the warning areas 71L and 71R may be made different between the side of the lane change destination and the opposite side in the left-right direction in front of the host vehicle. Specifically, in the case of changing lanes to the adjacent lane on the right as shown in the figure, the longitudinal length of the warning area 71L on the left side may be made shorter than the longitudinal length of the warning area 71R on the right side. In this case, the front-end position of the warning area 71L may not be changed, and the warning area 71L may be shortened by shifting the rear-end position forward.

[0045] At the intermediate point when the host vehicle 40 changes lanes, the warning areas 71L and 71R are set in a manner different from the warning areas at the start of the lane change and the warning areas at the completion of the lane change. That is, in FIG. 6, the warning areas 71L and 71R in the second state are set as areas different from the warning areas 71L and 71R at the start and completion of the lane change.

[0046] Time point D is the time point when the lane change of the host vehicle 40 is completed. At time point D, the third lane R13 becomes the host lane, and the warning areas 71L and 71R are set for the second lane R12 and the fourth lane R14 on the left and right adjacent sides of the third lane R13.

[0047] Regarding the control of the collision suppression operation executed by the ECU 30, it will be described using the flowchart of FIG. 7. The process shown in FIG. 7 is repeatedly executed at a predetermined time interval during the driving of the host vehicle 40.

[0048] First, in step S11, base regions 71Lb and 71Rb of a predetermined dimension are set on the rear side of the host vehicle 40 with reference to the position of the host vehicle 40. In step S12, it is determined whether or not lane information indicating the presence of lane lines has been acquired. Specifically, as the lane information, acquisition processing for acquiring detection information of the lane lines by the imaging device 22 is performed, and it is determined whether or not the detection information has been acquired. The process of step S11 corresponds to the base region setting unit, and the process of step S12 corresponds to the acquisition unit.

[0049] If the lane information has not been acquired, the process proceeds to step S13, and the base regions 71Lb and 71Rb are set as warning regions 71L and 71R. If the lane information has been acquired, the process proceeds to step S14.

[0050] In step S14, it is determined whether or not the host vehicle 40 is in a state of changing lanes. The determination as to whether or not the host vehicle 40 is in a lane-changing state may be made based on whether or not the host vehicle 40 straddles the lane lines (for example, the lane lines SL13 in FIG. 6) crossed by the lane change, that is, whether or not the host vehicle 40 overlaps the lane lines crossed by the lane change. Explaining with reference to FIG. 6, it may be determined that the lane change is started when the front end of the host vehicle 40 approaches the lane line SL13, and it may be determined that the lane change is completed when the rear end of the host vehicle 40 passes the lane line SL13.

[0051] In addition, it is also possible to determine whether or not the host vehicle 40 is in a lane-changing state based on the on information of the direction indicator of the host vehicle 40 and the turning state of the host vehicle 40. For example, when the output of the direction indicator is on and it is determined that the host vehicle 40 is in a turning state based on the steering signal and the yaw rate signal, it is possible to determine that the host vehicle 40 is in a lane-changing state.

[0052] If the host vehicle 40 is not in the state of changing lanes, the process proceeds to step S15 to correct the base areas 71Lb and 71R to set warning areas 71L and 71R in the adjacent lanes on both the left and right sides. Thereby, for example, as shown at time point A and time point D in FIG. 6, the warning areas 71L and 71R are set in the first lane R11 and the third lane R13 adjacent to both the left and right sides of the second lane R12 (the host lane).

[0053] If the host vehicle 40 is in the state of changing lanes, the process proceeds to step S16 to correct the base areas 71Lb and 71R to set warning areas 71L and 71R in two lanes on both sides of the dividing line crossed due to the lane change, that is, the host lane and the adjacent lane of the lane change destination. Thereby, for example, as shown at time point B and time point C in FIG. 6, the warning areas 71L and 71R are set in the second lane R12 which is the host lane before the lane change and the third lane R13 which is the adjacent lane on the right.

[0054] Each process of steps S15 and S16 is a process of recognizing the position of the dividing line based on the section information and setting the warning areas 71L and 71R based on the position of the dividing line, corresponding to the recognition unit and the warning area setting unit.

[0055] Note that in steps S15 and S16, it is also possible to set the warning areas 71L and 71R without using the base areas 71Lb and 71Rb. That is, in step S15, the warning areas 71L and 71R may be set based on the position of the dividing line partitioning the adjacent lanes on both the left and right sides without using the base areas 71Lb and 71Rb. In step S16, the warning areas 71L and 71R may be set based on the position of the dividing line partitioning the two lanes targeted for the lane change without using the base areas 71Lb and 71Rb.

[0056] In step S17, it is determined whether an object is detected within the warning areas 71L and 71R. If an object is detected within the warning areas 71L and 71R, the process proceeds to step S18, outputs a command for executing notification to the alarm device 27, and then once terminates this process.

[0057] In addition, when step S12 is negated, if the host vehicle 40 is in a lane change state, it is also possible not to set the warning areas 71L and 71R in order to suppress the execution of unnecessary notifications.

[0058] According to the present embodiment described in detail above, the following effects can be obtained.

[0059] Lane information indicating the presence of lane lines in the lane is acquired, and the warning area 71 is set based on the position of the lane lines recognized based on the lane information. In this case, if the positions of the respective lane lines can be recognized on the road on which the host vehicle 40 travels, the adjacent lanes and the like partitioned by the lane lines can be correctly grasped. As a result, it is possible to suppress unnecessary collision suppression operations against other vehicles traveling in the adjacent lanes and non-activation of the collision suppression operations against other vehicles traveling in the adjacent lanes. As a result, the warning area 71 can be set appropriately, and thus the collision suppression operation can be carried out appropriately.

[0060] By setting a base area of a predetermined dimension with respect to the position of the host vehicle 40 at the rear side of the host vehicle 40, it becomes possible to appropriately recognize an object or the like approaching the host vehicle 40. Further, the warning area 71 is set by grasping the adjacent lane adjacent to the host lane in which the host vehicle 40 travels from the position of the lane line and performing area correction on the adjacent lane with an area where the base area becomes surplus or deficit. Thereby, it becomes possible to set the warning area 71 within a range without excess or deficiency with respect to the adjacent lane. In this case, even if the host vehicle 40 is in a posture inclined with respect to the extending direction of the lane, the warning area 71 can be set appropriately within the adjacent lane.

[0061] When the host vehicle 40 changes lanes, it is temporarily switched from a first state in which a warning area 71 is set to the outside of the lane line on the side opposite to the lane change destination in the host lane in which the host vehicle 40 travels before the lane change, to a second state in which the warning area 71 is set to the inside of the lane line. In this case, on the side opposite to the lane change destination in the left-right direction in front of the host vehicle, the warning area 71 is changed from the adjacent lane into the host lane. As a result, the warning area 71 can be set to an appropriate position according to the situation each time with the minimum necessary size, and thus the collision suppression operation can be appropriately performed.

[0062] When the host vehicle 40 changes lanes on a road having adjacent lanes on both the left and right sides of the host lane, it is temporarily switched from a first state in which warning areas 71L and 71R are set in the adjacent lanes on both the left and right sides, to a second state in which warning areas 71L and 71R are set in two lanes on both sides of the lane line crossed by the lane change. As a result, the warning areas 71L and 71R on both the left and right sides can be set to appropriate positions according to the situation each time with the minimum necessary size, and thus the collision suppression operation can be appropriately performed.

[0063] When the host vehicle 40 changes lanes, the warning areas 71L and 71R are set based on the lane information of the lane line that moves away from or approaches the host vehicle 40. As a result, during the lane change of the host vehicle 40, unnecessary collision suppression operations against other vehicles traveling in other lanes around the host vehicle can be suppressed. As a result, the warning area 71 can be appropriately set, and thus the collision suppression operation can be appropriately performed.

[0064] The warning areas 71L and 71R during the lane change of the host vehicle 40 are set in a manner different from the warning area at the start of the lane change and the warning area at the completion of the lane change. As a result, the warning areas 71L and 71R can be set according to the situation each time during the lane change of the host vehicle 40.

[0065] When the host vehicle 40 changes lanes, a range from the dividing line on the opposite side of the lane change destination in the lane before the lane change to the host vehicle 40 is set as a warning area 71 in the lane before the lane change. Also, in the lane of the lane change destination, a range from the dividing line outside the lane to the host vehicle 40 is set as a warning area 71 in the lane of the lane change destination. In this case, when the host vehicle 40 crosses the dividing line for the lane change, warning areas 71L and 71R are set at positions as close as possible to the host vehicle 40 in each of the lanes before and after the lane change. Thereby, it is possible to appropriately perform a collision suppression operation on other vehicles or the like that attempt to pass by the host vehicle 40 when the host vehicle 40 changes lanes.

[0066] <Other Embodiments> Note that the above embodiment may be implemented with the following modifications.

[0067] · A configuration may be adopted in which the size of the warning area 71 is changed according to whether the dividing line that divides the lane is a yellow line that restricts the protrusion of vehicles from the lane or a white line that does not restrict the protrusion. Here, the ECU 30 acquires a plurality of detection points Pd detected by the imaging device 22 on the dividing line on the road surface as division information, and recognizes the position of the dividing line based on the plurality of detection points Pd. In this case, the contour of the dividing line is detected as a plurality of detection points Pd from the image captured by the imaging device 22, and the position of the dividing line is recognized based on the plurality of detection points Pd.

[0068] Then, the ECU 30 determines whether the dividing line SL22 of the adjacent lane R22 is a yellow line or a white line. If the dividing line SL22 is a white line, the warning area 71 is set by adding an area corresponding to the variation of the plurality of detection points. If the dividing line SL22 is a yellow line, the warning area is set without adding an area corresponding to the variation of the plurality of detection points. The yellow line corresponds to a regulated lane, and the white line corresponds to an unregulated lane.

[0069] Regarding the recognition of the position of the lane line and the setting of the warning area 71 based on the position of the lane line, it will be described with reference to FIGS. 8(a) and (b). FIGS. 8(a) and (b) show the own lane R21 and the adjacent lane R22, and the left and right lane lines SL21 and SL22 of the adjacent lane R22. Also, a plurality of detection points Pd are shown for the right lane line SL22 of the adjacent lane R22. FIG. 8(a) shows the method of setting the warning area 71 when the lane line SL22 is a white line, and FIG. 8(b) shows the method of setting the warning area 71 when the lane line SL22 is a yellow line.

[0070] When the lane line SL22 is a white line, in FIG. 8(a), the position X1 of the lane line SL22 is recognized based on a plurality of detection points Pd. In this case, for example, the position X1 is recognized by the average of the distances from the own vehicle 40 to each detection point Pd. The position X1 is defined by the distance LX from the own vehicle 40 to the position X1. Also, a variation amount ΔX indicating the degree of variation for the plurality of detection points Pd is calculated, and 1 / 2 of the variation amount ΔX is added to the distance LX of the position X1 to calculate a corrected position X2. Then, the warning area 71 is set in a range expanded by the detection variation of the lane line (ΔX / 2) in the vehicle width direction.

[0071] On the other hand, when the lane line of the adjacent lane is a yellow line, in FIG. 8(b), the warning area 71 is set based on the position X1 without expanding by the detection variation of the lane line (ΔX / 2).

[0072] If the warning area 71 is set wider in consideration of the variation of the detection points Pd of the lane line, there is a concern that unnecessary collision suppression operations may be performed. Also, when the lane line is a yellow line, unlike the case where the lane line is a white line, it is considered that the possibility of other vehicles changing lanes across the lane line is low. Considering this point, when the lane line is a yellow line, the warning area 71 is set narrower than when the lane line is a white line. Therefore, the warning area 71 can be appropriately set according to whether the lane line is a white line or a yellow line.

[0073] ·In the above embodiment, the position of the partition line is recognized using the detection information of the partition line by the imaging device 22 as the partition information. However, a configuration using something other than the detection information of the imaging device 22 as the partition information may be employed. For example, if the host vehicle 40 is equipped with a LiDAR that uses laser light as a transmission wave, a configuration using the detection information of the partition line by the LiDAR as the partition information may be adopted. Alternatively, as the partition information, a configuration may be adopted in which the current position information by GPS or the like and the road information included in the map are acquired, and the position of the partition line is recognized using the road information. In this case, it is preferable that the road information includes information on the lane width for each lane.

[0074] ·The warning areas 71L and 71R may be set according to the road conditions on which the host vehicle 40 travels. Specifically, as shown in FIG. 9, in a road where the width of the host lane is expanded, when the host vehicle 40 is biased to one side (left or right) within the host lane, a configuration may be adopted in which the warning area 71 is set within the host lane. In this case, when the width of the host lane is expanded and the host vehicle 40 is biased to one side (left or right) within the host lane, the ECU 30 sets the warning area 71 within the host lane based on the position of the partition line. For example, when traveling on a ramp near the exit of an expressway, the warning area 71 is set as shown in FIG. 9.

[0075] ·It is also possible to set the warning area 71 only on one side of the left and right sides of the host vehicle 40. For example, when the host vehicle 40 travels on a road with two lanes on one side, the warning area 71 may be set in the adjacent lane on the side different from the host lane among the two lanes.

[0076] ·As the collision suppression operation, an alarm is issued by the alarm device 27. However, this may be changed. For example, as the collision suppression operation, a configuration may be adopted in which any one of door locking by the door lock device, braking of the host vehicle by the brake device, and steering of the host vehicle by the steering device is performed.

[0077] ·In the above-described embodiment, the ECU 30 is configured to collectively implement functions such as processing related to imaging and processing related to lane line recognition. However, this may be changed. For example, different processing units may be provided for each function for the processing related to imaging and the processing related to lane line recognition, etc., and the ECU 30 may be configured by combining these respective processing units.

[0078] ·The vehicle control device and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the vehicle control device and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the vehicle control device and its method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by a computer.

[0079] Although the present disclosure has been described based on the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure includes various modifications and modifications within the equivalent scope. In addition, various combinations and forms, and further, other combinations and forms including only one element, more than one, or less than one of them, are within the scope and spirit of the present disclosure.

[0080] Hereinafter, the characteristic configurations extracted from the above-described respective embodiments will be described. [Configuration 1] Applied to a vehicle including a distance measuring sensor (21) that transmits a probing wave and receives a reflected wave of the probing wave, A peripheral monitoring device (30) that sets a warning area on the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measurement sensor within the warning area. An acquisition unit that acquires lane division information indicating the presence of lane division lines in the lane. A recognition unit that recognizes the position of the lane division line based on the lane division information. A warning area setting unit that sets the warning area based on the position of the lane division line recognized by the recognition unit. A peripheral monitoring device comprising: [Configuration 2] It includes a base area setting unit that sets a base area of a predetermined size extending in the vehicle length direction and vehicle width direction of the host vehicle with respect to the position of the host vehicle on the rear side of the host vehicle. The warning area setting unit grasps the adjacent lane adjacent to the host lane in which the host vehicle travels from the position of the lane division line recognized by the recognition unit, and performs area correction on the adjacent lane by an area where the base area is surplus or insufficient, thereby setting the warning area. The peripheral monitoring device according to Configuration 1. [Configuration 3] When the host vehicle changes lanes, the warning area setting unit temporarily switches from a first state in which the outside of the lane division line on the side opposite to the lane change destination in the host lane in which the host vehicle travels before the lane change is the warning area to a second state in which the inside of the lane division line is the warning area. The peripheral monitoring device according to Configuration 1 or 2. [Configuration 4] When the host vehicle changes lanes on a road having adjacent lanes on both the left and right sides of the host lane in which the host vehicle travels, the warning area setting unit temporarily switches from a first state in which the warning area is set in the adjacent lanes on both the left and right sides to a second state in which the warning area is set in two lanes on both sides of the lane division line crossed by the lane change. The peripheral monitoring device according to Configuration 1 or 2. [Configuration 5] When the host vehicle changes lanes, the warning area setting unit sets, as the warning area in the host lane before the lane change, the range from the dividing line on the opposite side of the lane change destination to the host vehicle in the host lane before the lane change, and sets, as the warning area in the lane of the lane change destination, the range from the dividing line outside the lane to the host vehicle in the lane of the lane change destination. The peripheral monitoring device according to Configuration 4. [Configuration 6] The acquisition unit acquires, as the lane division information, a plurality of detection points detected by a detection device (22) on the lane division line on the road surface. The recognition unit recognizes the position of the lane division line based on the plurality of detection points. The warning area setting unit determines whether the lane division line of the adjacent lane adjacent to the host lane in which the host vehicle is traveling is a regulated lane that regulates the protrusion of the vehicle from the lane or an unregulated lane that does not regulate the protrusion. If the lane division line of the adjacent lane is an unregulated lane, the warning area is set by adding an area corresponding to the variation of the plurality of detection points. On the other hand, If the lane division line of the adjacent lane is a regulated lane, the warning area is set without adding an area corresponding to the variation of the plurality of detection points. The peripheral monitoring device according to any one of Configurations 1 to 5. [Configuration 7] Applied to a vehicle equipped with a ranging sensor (21) that transmits a probing wave and receives a reflected wave of the probing wave, A peripheral monitoring device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the ranging sensor within the warning area. An acquisition unit that acquires lane division information indicating the presence of a lane division line in a lane, A warning area setting unit that sets the warning area based on the lane division information of the lane division line that moves away from or approaches the host vehicle when the host vehicle changes lanes. The peripheral monitoring device includes. [Configuration 8] The warning area setting unit is configured to set the warning area during lane change of the host vehicle in a manner different from the warning area at the start of lane change and the warning area at the completion of lane change. The peripheral monitoring device according to Configuration 7. [Configuration 9] When the host vehicle changes lanes, the warning area setting unit temporarily switches from a first state in which the warning area is set to the outside of the lane line on the side opposite to the lane change destination in the host lane in which the host vehicle travels before lane change, based on the lane line information of the lane line moving away from the host vehicle, to a second state in which the warning area is set to the inside of the lane line. The peripheral monitoring device according to Configuration 7 or 8. [Configuration 10] When the host vehicle changes lanes on a road having adjacent lanes on both the left and right sides of the host lane in which the host vehicle travels, the warning area setting unit temporarily switches from a first state in which the warning area is set in the adjacent lanes on both the left and right sides, based on the lane line information of the lane line approaching the host vehicle, to a second state in which the warning area is set in two lanes on both sides of the lane line crossed by the lane change. The peripheral monitoring device according to Configuration 7 or 8. [Configuration 11] When the host vehicle changes lanes, the warning area setting unit sets the range from the lane line on the side opposite to the lane change destination in the host lane before lane change to the host vehicle as the warning area in the host lane before lane change, based on the lane line information of the lane line moving away from the host vehicle, and sets the range from the lane line outside the lane of the lane change destination to the host vehicle as the warning area in the lane of the lane change destination, based on the lane line information of the lane line approaching the host vehicle. The peripheral monitoring device according to Configuration 10.

Claims

1. Applied to a vehicle equipped with a ranging sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave, A peripheral monitoring device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the ranging sensor within the warning area, An acquisition unit that acquires lane information indicating the presence of lane lines in the lane, A recognition unit that recognizes the position of the lane line based on the lane information, A warning area setting unit that sets the warning area based on the position of the lane line recognized by the recognition unit, and The warning area setting unit temporarily switches from a first state in which the outside of the lane line on the side opposite to the lane change destination in the host lane in which the host vehicle travels before the lane change is the warning area to a second state in which the inside of the lane line is the warning area when the host vehicle changes lanes. Peripheral monitoring device.

2. Applied to a vehicle equipped with a ranging sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave, A peripheral monitoring device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the ranging sensor within the warning area, An acquisition unit that acquires lane information indicating the presence of lane lines in the lane, A recognition unit that recognizes the position of the lane line based on the lane information, A warning area setting unit that sets the warning area based on the position of the lane line recognized by the recognition unit, and When the host vehicle changes lanes on a road having adjacent lanes on both the left and right sides of the host lane in which the host vehicle travels, the warning area setting unit sets the warning area in the adjacent lanes on both the left and right sides in a first state, and temporarily switches to a second state in which the warning area is set in two lanes on both sides of the lane line crossed by the lane change. Peripheral monitoring device.

3. When the host vehicle changes lanes, the warning area setting unit sets the range from the lane line on the side opposite to the lane change destination in the host lane before the lane change to the host vehicle as the warning area in the host lane before the lane change, and sets the range from the outside lane line of the lane to the host vehicle in the lane change destination lane as the warning area in the lane change destination lane. The peripheral monitoring device according to claim 2.

4. It is applied to a vehicle equipped with a distance measuring sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave, A peripheral monitoring device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measuring sensor within the warning area, An acquisition unit that acquires lane information indicating the presence of lane lines in the lane, A recognition unit that recognizes the position of the lane line based on the lane information, A warning area setting unit that sets the warning area based on the position of the lane line recognized by the recognition unit, and The acquisition unit acquires a plurality of detection points detected by a detection device (22) on the lane line on the road surface as the lane information, The recognition unit recognizes the position of the lane line based on the plurality of detection points, The warning area setting unit Determines whether the lane line of the adjacent lane adjacent to the lane in which the host vehicle is traveling is a regulation lane that regulates the protrusion of the vehicle from the lane or a non-regulation lane that does not regulate the protrusion, If the lane line of the adjacent lane is a non-regulation lane, the warning area is set by adding an area corresponding to the variation of the plurality of detection points, If the lane line of the adjacent lane is a regulation lane, the warning area is set without adding an area corresponding to the variation of the plurality of detection points. Peripheral monitoring device.

5. A base area setting unit that sets a base area having a predetermined dimension extending in the vehicle length direction and the vehicle width direction with respect to the position of the host vehicle at the rear side of the host vehicle, The warning area setting unit grasps the adjacent lane adjacent to the lane in which the host vehicle is traveling from the position of the lane line recognized by the recognition unit, and performs area correction on the adjacent lane by an area where the base area is surplus or insufficient. The peripheral monitoring device according to any one of claims 1 to 4, wherein the warning area is set.

6. It is applied to a vehicle equipped with a distance measuring sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave, A program executed by a control device (30), which sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measuring sensor within the warning area, In the control device, An acquisition process for acquiring lane information indicating the presence of lane lines in the lane, A recognition process for recognizing the position of the lane line based on the lane information, Based on the position of the lane line recognized by the recognition process, execute a warning area setting process for setting the warning area. The warning area setting process is a program that, when the host vehicle changes lanes, temporarily switches from a first state in which the outside of the lane line on the opposite side of the lane change destination in the host lane where the host vehicle is traveling is set as the warning area to a second state in which the inside of the lane line is set as the warning area.

7. It is applied to a vehicle equipped with a ranging sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave. A program executed by a control device (30) that sets a warning area behind and to the side of the host vehicle (40), and when an object is detected by the ranging sensor within the warning area, performs a collision suppression operation to suppress a collision with the object. In the control device An acquisition process for acquiring section information indicating the presence of lane lines in the lane. A recognition process for recognizing the position of the lane line based on the section information. Based on the position of the lane line recognized by the recognition process, execute a warning area setting process for setting the warning area. The warning area setting process is a program that, when the host vehicle changes lanes on a road having adjacent lanes on both the left and right sides of the host lane in which the host vehicle is traveling, temporarily switches from a first state in which the warning area is set in the adjacent lanes on both the left and right sides to a second state in which the warning area is set in two lanes on both sides of the lane line crossed by the lane change.

8. It is applied to a vehicle equipped with a ranging sensor (21) that transmits a detection wave and receives a reflected wave of the detection wave. A program executed by a control device (30) that sets a warning area behind and to the side of the host vehicle (40), and when an object is detected by the ranging sensor within the warning area, performs a collision suppression operation to suppress a collision with the object. In the control device An acquisition process for acquiring section information indicating the presence of lane lines in the lane. A recognition process for recognizing the position of the lane line based on the section information. Based on the position of the lane line recognized by the recognition process, execute a warning area setting process for setting the warning area. The acquisition process is a process of acquiring a plurality of detection points detected by a detection device (22) on the lane lines on the road surface as the section information. The recognition process is a process of recognizing the position of the lane line based on the plurality of detection points. The warning area setting process is to determine whether the lane marking of the adjacent lane adjacent to the lane in which the host vehicle travels is a regulated lane that regulates the protrusion of the vehicle from the lane or an unregulated lane that does not regulate the protrusion, if the lane marking of the adjacent lane is an unregulated lane, the warning area is set by adding an area corresponding to the variation of the plurality of detection points, if the lane marking of the adjacent lane is a regulated lane, the warning area is set without adding an area corresponding to the variation of the plurality of detection points. A program.

9. Applied to a vehicle equipped with a distance measuring sensor (21) that transmits a probing wave and receives a reflected wave of the probing wave, A peripheral monitoring device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measuring sensor within the warning area, An acquisition unit that acquires lane marking information indicating the presence of lane markings in the lane, A warning area setting unit that sets the warning area based on the lane marking information of the lane marking that moves away from or approaches the host vehicle when the host vehicle changes lanes, The warning area setting unit sets, as the warning area during the lane change of the host vehicle, a range from the lane marking that moves away due to the lane change among the left and right lane markings of the lane in which the host vehicle travels before the lane change to the host vehicle. A peripheral monitoring device.

10. Applied to a vehicle equipped with a distance measuring sensor (21) that transmits a probing wave and receives a reflected wave of the probing wave, A program executed by a control device (30) that sets a warning area at the rear side of the host vehicle (40) and performs a collision suppression operation to suppress a collision with an object when the object is detected by the distance measuring sensor within the warning area, In the control device, An acquisition process for acquiring lane marking information indicating the presence of lane markings in the lane, When the host vehicle changes lanes, execute a warning area setting process for setting the warning area based on the lane marking information of the lane marking that moves away from or approaches the host vehicle, The warning area setting process is a process of setting, as the warning area during the lane change of the host vehicle, a range from the lane marking that moves away due to the lane change among the left and right lane markings of the lane in which the host vehicle travels before the lane change to the host vehicle. A program.

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