Vehicle control system and vehicle control method

Abstract

To appropriately determine whether or not a traveling lane of a vehicle is adjacent to a road shoulder or an emergency parking zone, and to stop the vehicle at an appropriate position corresponding to the traveling lane.SOLUTION: A controller 10 of a vehicular control system detects a division line BL and a road edge E of a road from an image photographed by a camera 21, and a left division line BL1 of a traveling lane of a vehicle is a white solid line. When a distance WS between a road edge on the left side of the vehicle and a left side division line is less than a first distance W1 and there is no other division line between the road edge and the left side division line, an electric power steering 33 and a brake 32 are controlled so that at least a part of the vehicle enters between the road edge and the left side division line and is stopped.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control system and a vehicle control method, and more particularly to a vehicle control system and a vehicle control method for automatically stopping a vehicle. [Background technology]

[0002] Conventionally, as a technology for realizing automatic driving of a vehicle, a technology for recognizing the lane that the vehicle is traveling in has been known. For example, Patent Document 1 discloses a traveling lane recognition device that recognizes the lane that the vehicle is traveling in based on an image of the road captured by a camera. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-187474 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, development is underway for a vehicle control system that automatically detects driver abnormalities or allows a passenger to press an emergency button when the driver of the vehicle is unable to drive safely, thereby automatically stopping the vehicle safely. In order to automatically and safely stop the vehicle, it is necessary to determine whether or not to change lanes before stopping, depending on the presence or absence of a parking space adjacent to the vehicle's driving lane. However, the conventional technology described in Patent Document 1 above is unable to properly determine whether the vehicle's driving lane is adjacent to a road shoulder or an emergency parking zone, and may not be able to stop the vehicle in an appropriate position according to the driving lane.

[0005] The present invention has been made to solve the problems of the conventional technology described above, and aims to provide a vehicle control system that can accurately determine whether the lane in which a vehicle is traveling is adjacent to a road shoulder or an emergency parking zone, and can stop the vehicle at an appropriate position according to the lane in which the vehicle is traveling. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, the vehicle control system of the present invention is a vehicle control system that automatically stops a vehicle, and includes a camera that photographs the area in front of the vehicle, and a controller configured to control the steering and braking devices of the vehicle to stop the vehicle based on the image of the area in front of the vehicle photographed by the camera.The controller detects road markings and road edges from the image photographed by the camera, and if the left-hand road marking of the vehicle's lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left-hand road marking is less than a first distance, and there are no other markings between the road edge and the left-hand road marking, controls the steering and braking devices to move at least part of the vehicle between the road edge and the left-hand road marking to stop the vehicle. In the present invention configured as described above, if there is no other lane to the left of the lane the vehicle is traveling in, and the space between the road edge and the left-side dividing line is not wide enough for the vehicle to normally travel in, and there are no other dividing lines that might define an emergency parking lane, the controller assumes that the lane the vehicle is traveling in is adjacent to the shoulder, and causes the vehicle to pull over to the shoulder and stop. This makes it possible to accurately determine that the lane the vehicle is traveling in is adjacent to the shoulder, and to cause the vehicle to enter and stop on the shoulder, thereby stopping the vehicle in an appropriate position according to the lane the vehicle is traveling in.

[0007] In addition, in the present invention, the controller preferably controls the steering device and the braking device to stop the vehicle in the driving lane when the left-hand dividing line of the vehicle's driving lane is not a solid white line, or when the left-hand dividing line of the vehicle's driving lane is a solid white line and the distance between the road edge on the left side of the vehicle and the left-hand dividing line is a first distance or more. In the present invention configured as described above, if there is another lane to the left of the lane in which the vehicle is traveling, or if there is a space wide enough for the vehicle to travel normally, the controller assumes that the lane in which the vehicle is traveling is not adjacent to the shoulder and stops the vehicle in the current lane. This makes it possible to accurately determine that the lane in which the vehicle is traveling is not adjacent to the shoulder, avoid repeated lane changes, and stop the vehicle in the current lane, thereby enabling the vehicle to be stopped in an appropriate position according to the lane in which the vehicle is traveling.

[0008] In addition, the vehicle control system of the present invention is a vehicle control system that automatically stops a vehicle, and includes a camera that photographs the area in front of the vehicle, and a controller configured to control the steering and braking devices of the vehicle to stop the vehicle based on the image of the area in front of the vehicle photographed by the camera.The controller detects road markings and road edges from the image photographed by the camera, and if the left lane marking of the vehicle is a solid white line, the distance between the road edge on the left side of the vehicle and the left lane marking is less than a first distance, and there is another lane marking between the road edge and the left lane marking and the distance between the other lane marking and the left lane marking is less than a second distance that is smaller than the first distance, the controller controls the steering and braking devices to move at least part of the vehicle between the road edge and the left lane marking to stop the vehicle. In the present invention configured as described above, if there are no other lanes to the left of the vehicle's travel lane, the space between the road edge and the solid white left-hand dividing line is not wide enough for the vehicle to travel normally, and the space between the other dividing line between the road edge and the left-hand dividing line and the left-hand dividing line is also not wide enough for the vehicle to travel normally, the controller assumes that the vehicle's travel lane is adjacent to the shoulder or an emergency parking lane, and causes the vehicle to pull over to the shoulder or an emergency parking lane and stop. This makes it possible to accurately determine that the vehicle's travel lane is adjacent to the shoulder or an emergency parking lane, and to cause the vehicle to enter and stop in the shoulder or emergency parking lane, thereby stopping the vehicle in an appropriate position according to the travel lane.

[0009] In addition, in the present invention, preferably, when the left-hand dividing line of the vehicle's lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left-hand dividing line is less than a first distance, and another dividing line exists between the road edge and the left-hand dividing line and the distance between the other dividing line and the left-hand dividing line is less than a second distance, and the distance between the other dividing line and the left-hand dividing line is equal to or greater than a third distance that is smaller than the second distance, the controller controls the steering device and braking device to cause the vehicle to enter and stop between the other dividing line and the left-hand dividing line. In the present invention configured as described above, if there are no other lanes to the left of the vehicle's driving lane, the space between the road edge and the left white solid dividing line is not wide enough for the vehicle to drive normally, and the space between the other dividing line between the road edge and the left white solid dividing line and the left dividing line is not wide enough for the vehicle to drive normally but is wide enough for the vehicle to stop, the controller assumes that the vehicle's driving lane is adjacent to an emergency parking lane and causes the vehicle to enter and stop in the emergency parking lane. This makes it possible to accurately determine that the vehicle's driving lane is adjacent to the emergency parking lane and cause the vehicle to enter and stop in the emergency parking lane, thereby allowing the vehicle to stop in an appropriate position according to the driving lane.

[0010] From another perspective, the vehicle control method of the present invention is a vehicle control method for automatically stopping a vehicle, comprising the steps of: a camera photographing an image of the front of the vehicle; and a controller controlling the steering and braking devices of the vehicle to stop the vehicle based on the image of the front of the vehicle photographed by the camera, wherein the step of the controller controlling the steering and braking devices comprises the steps of the controller detecting road markings and road edges from the image photographed by the camera; and, when the left marking line of the vehicle's lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left marking line is less than a first distance, and no other marking lines exist between the road edge and the left marking line, controlling the steering and braking devices to move at least a part of the vehicle between the road edge and the left marking line to stop the vehicle.

[0011] From another perspective, the vehicle control method of the present invention is a vehicle control method for automatically stopping a vehicle, comprising the steps of: a camera photographing an image of the area in front of the vehicle; and a controller controlling the steering and braking devices of the vehicle to stop the vehicle based on the image of the area in front of the vehicle photographed by the camera, wherein the step of the controller controlling the steering and braking devices comprises the steps of the controller detecting road markings and road edges from the image photographed by the camera; and, when the left marking line of the vehicle's lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left marking line is less than a first distance, and another marking line exists between the road edge and the left marking line and the distance between the other marking line and the left marking line is less than a second distance that is smaller than the first distance, controlling the steering and braking devices to move at least a part of the vehicle between the road edge and the left marking line to stop the vehicle. [Effects of the Invention]

[0012] The vehicle control system and vehicle control method according to the present invention can appropriately determine whether the vehicle's lane of travel is adjacent to a road shoulder or an emergency parking area, and can stop the vehicle in an appropriate position according to the vehicle's lane of travel. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic configuration diagram of a vehicle to which a vehicle control system according to an embodiment of the present invention is applied. [Figure 2] 1 is a block diagram showing an electrical configuration of a vehicle control system according to an embodiment of the present invention. [Figure 3] 4 is a flowchart of an automatic vehicle stop process executed by the vehicle control system according to the embodiment of the present invention. [Figure 4] FIG. 2 is an explanatory diagram illustrating a driving lane, a road shoulder, and an emergency parking area. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control system and a vehicle control method according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

[0015] <System configuration> First, the overall configuration of a vehicle to which a vehicle control system according to an embodiment of the present invention is applied will be described with reference to Figures 1 and 2. Figure 1 is a schematic configuration diagram of a vehicle to which a vehicle control system according to this embodiment is applied. Figure 2 is a block diagram showing the electrical configuration of the vehicle control system according to this embodiment.

[0016] As shown in Fig. 1, reference numeral 1 denotes a vehicle to which the vehicle control system according to this embodiment is applied. The vehicle 1 has an engine 31 that generates driving force, a brake 32 that brakes the vehicle 1, and an electric power steering 33. The vehicle 1 is also provided with a camera 21 that captures images ahead of the vehicle 1, and a radar 22 that detects obstacles around the vehicle 1.

[0017] 2, vehicle 1 is further provided with a vehicle speed sensor 23 that detects the vehicle speed, an acceleration sensor 24 that detects the acceleration in the traveling direction of vehicle 1, a yaw rate sensor 25 that detects the yaw rate of vehicle 1, a steering angle sensor 26 that detects the steering angle of vehicle 1, an accelerator sensor 27 that detects the operation of the accelerator pedal (e.g., the accelerator opening), a brake sensor 28 that detects the operation of the brake pedal (e.g., the amount of depression of the brake pedal), a positioning system 29 that detects the position of vehicle 1, and a navigation system 30. Image data captured by camera 21, position information of obstacles detected by radar 22, position information acquired by positioning system 29, information on the position of emergency parking lanes and the like acquired from navigation system 30, and detection data detected by each sensor are output to controller 10.

[0018] The camera 21 captures images of the surroundings of the vehicle 1 and outputs image data. Based on the image data received from the camera 21, the controller 10 identifies objects (for example, road dividing lines (e.g., white lines and yellow lines including lane boundaries, outer roadway lines, and outermost vehicle lane lines), road edges (boundaries between the road and other objects, e.g., boundaries between pavement and soil, guardrails, curbs, etc.), other vehicles, pedestrians, traffic lights, signs, stop lines, intersections, obstacles, etc.).

[0019] The radar 22 measures the position and speed of objects (particularly road edges (boundaries between roads and other objects, for example, boundaries between pavement and soil, guardrails, curbs, etc.), other vehicles, pedestrians, obstacles, etc.). The radar 22 may be, for example, a millimeter-wave radar. The radar 22 transmits radio waves to the vicinity of the vehicle 1 and receives reflected waves generated when the transmitted waves are reflected by objects. Then, based on the transmitted waves and received waves, the radar 22 measures the direction and distance from the vehicle 1 to the object, and the relative speed between the vehicle 1 and the object. Note that instead of such a radar 22, a laser radar, an ultrasonic sensor, etc. may be used to measure the distance to the object and the relative speed.

[0020] As shown in FIG. 2, the controller 10 receives as input image data captured by the camera 21, position information of obstacles detected by the radar 22, position information acquired by the positioning system 29, information on the position of emergency parking lanes acquired from the navigation system 30, and detection data detected by each of the sensors 23 to 28.

[0021] The controller 10 is configured by a computer having one or more processors 10a (typically a CPU), various programs interpreted and executed on the processors (including basic control programs such as an OS and application programs that are launched on the OS and realize specific functions), and memory 10b such as a ROM or RAM for storing programs and various data.

[0022] Specifically, the controller 10 outputs control signals mainly to the engine 31, the brake 32, and the electric power steering 33 based on image data captured by the camera 21, position information of obstacles detected by the radar 22, position information acquired by the positioning system 29, information on the location of emergency parking lanes acquired from the navigation system 30, and detection data detected by the sensors 23 to 28, to control these. For example, the controller 10 controls the spark plugs, fuel injection valves, throttle valves, etc. of the engine 31 to adjust the ignition timing, fuel injection timing, and fuel injection amount of the engine 31. The controller 10 also controls, for example, the hydraulic pump and valve unit of the brake 32 to generate braking force in the brake 32. The controller 10 also controls the motor of the electric power steering 33 to change the traveling direction of the vehicle 1. The camera 21 and the controller 10 correspond to an example of a "vehicle control system" in the present invention.

[0023] <Vehicle control> Next, the automatic stopping process of the vehicle 1 performed by the vehicle control system will be described with reference to FIGS.

[0024] Fig. 3 is a flowchart of the automatic stopping process executed by the vehicle control system according to this embodiment Fig. 4 is an explanatory diagram illustrating a driving lane, a road shoulder, and an emergency parking zone.

[0025] The automatic stopping process in Figure 3 is a process in which the controller 10 automatically stops the vehicle 1, and is started and executed by the controller 10 when a driver abnormality is detected while the vehicle 1 is traveling (for example, when the emergency button provided on the vehicle 1 is pressed or when a driver abnormality is detected by the driver monitoring system).

[0026] As shown in FIG. 3, when the automatic stopping process is started, in step S11, the controller 10 acquires various information about the vehicle 1, including image data captured by the camera 21 described above, position information of obstacles detected by the radar 22, position information acquired by the positioning system 29, information about the position of emergency parking lanes acquired from the navigation system 30, and information corresponding to the detection data detected by each of the sensors 23 to 28.

[0027] Next, in step S12, the controller 10 detects the dividing lines and road edges of the road on which the vehicle 1 is traveling, based on the image data input from the camera 21 in step S11. In the example shown in Fig. 4, the controller 10 detects the road edge E, the dividing line BL (solid white line, outer road line) on the left side of the lane on which the vehicle 1 is traveling (driving lane), the dividing line BL (dashed white line, lane boundary line) on the right side of the driving lane, the dividing line BL (solid white line, road center line) on the right side of the driving lane, and the dividing line BL (solid white line, demarcating an emergency parking lane) between the road edge E and the left dividing line BL1 (outer road line) of the driving lane of the vehicle 1.

[0028] Next, in step S13, the controller 10 determines whether or not the left-hand demarcation line (left-hand demarcation line BL1) of the left and right demarcation lines that define the driving lane of the vehicle 1 is a solid white line. In the example shown in Fig. 4, the left-hand demarcation line BL1 of the driving lane of the vehicle 1 is a solid white line.

[0029] If the result of the determination in step S13 is that the left lane marking BL1 of the lane in which vehicle 1 is traveling is not a solid white line (step S13: No), for example, if vehicle 1 is traveling in an overtaking lane on a highway and the left lane marking BL1 of the lane in which vehicle 1 is traveling is a dashed white line, it is assumed that another lane exists to the left of the lane in which vehicle 1 is traveling, i.e., the lane in which vehicle 1 is traveling is not adjacent to a shoulder or an emergency parking area. In this case, vehicle 1 must repeatedly change lanes to stop vehicle 1 on a shoulder or an emergency parking area, which may make it difficult to stop vehicle 1 in a short time. Therefore, in step S14, controller 10 stops vehicle 1 while maintaining the current lane in which vehicle 1 is traveling. For example, controller 10 controls the motor of electric power steering 33 and the like using known lane keeping control, and controls engine 31 and brakes 32 to generate a predetermined deceleration (e.g., deceleration of 0.2 G or less) until the vehicle speed reaches 0. After vehicle 1 stops, controller 10 terminates the automatic stopping process.

[0030] On the other hand, if the result of the determination in step S13 is that the left lane marking BL1 of the lane in which the vehicle 1 is traveling is a solid white line as shown in FIG. 4 (step S13: Yes), that is, if it is considered that there is no other lane to the left of the lane in which the vehicle 1 is traveling, the process proceeds to step S15, and the controller 10 calculates the distance W between the road edge E and the left white solid lane marking BL1. S is less than the first distance W1. The first distance W1 is a threshold value, for example 3.5 m, for determining whether the space between the road edge and the left solid white dividing line BL1 is a shoulder (a space sandwiched between a driving lane and the road edge, where vehicles do not normally travel) or not (for example, a lane where vehicles can normally travel).

[0031] As a result of the determination in step S15, the distance W between the road edge E and the left solid white lane marking BL1 S is not less than the first distance W1 (step S15: No), that is, W SIf W1 or greater, the space between the road edge E and the solid white left dividing line BL1 is wide enough to allow normal vehicle travel, and therefore the lane in which vehicle 1 is traveling is not considered to be adjacent to a road shoulder or emergency parking area. Therefore, the process proceeds to step S14, and the controller 10 stops vehicle 1 while maintaining the current traveling lane.

[0032] On the other hand, as a result of the determination in step S15, the distance W between the road edge E and the left solid white lane marking BL1 is S If the distance W1 is less than the first distance W1 (step S15: Yes), the process proceeds to step S16, where the controller 10 determines whether or not another lane marking BL2 exists between the road edge E and the solid white left lane marking BL1.

[0033] If the determination in step S16 indicates that no other dividing line BL2 exists between the road edge E and the solid white left dividing line BL1 (step S16: No), the space between the road edge E and the solid white left dividing line BL1 is considered to be a road shoulder because vehicles do not normally travel in the space and there are no dividing lines BL defining an emergency parking lane. Therefore, the process proceeds to step S17, where the controller 10 controls the motor of the electric power steering 33 and other components to bring the vehicle 1 closer to the road edge E to a predetermined distance (e.g., 0.75 m) from the road edge E, and controls the engine 31 and brakes 32 to generate a predetermined deceleration (e.g., deceleration of 0.2 G or less) until the vehicle speed reaches 0. When the vehicle 1 approaches the road edge E to the predetermined distance from the road edge E, it is sufficient that at least a portion of the vehicle 1 is in the space between the road edge E and the solid white left dividing line BL1. After the vehicle 1 has stopped, the controller 10 ends the automatic vehicle stop process.

[0034] On the other hand, if the determination result in step S16 is that another marking line BL2 exists between the road edge E and the solid white left marking line BL1 as illustrated in the upper part of FIG. 4 (step S16: Yes), the process proceeds to step S18, and the controller 10 calculates the distance W between the solid white left marking line BL1 and the other marking line BL2. LThe second distance W2 is a threshold value for determining whether the space between the lane marking BL, which exists between the road edge E and the left solid white lane marking BL1, and the left solid white lane marking BL1 is a lane in which a vehicle can normally travel, and is smaller than the first distance W1, for example, 2.8 m.

[0035] As a result of the determination in step S18, the distance W between the left solid white lane marking BL1 and the other lane marking BL2 L is not less than the second distance W2 (step S18: No), that is, W L If W2 or greater, the space between the other dividing line BL2 between the road edge E and the left solid white dividing line BL1 and the left solid white dividing line BL1 is wide enough to allow normal vehicle travel, so it is considered that the lane in which vehicle 1 is traveling is not adjacent to a road shoulder or emergency parking area. Therefore, the process proceeds to step S14, and controller 10 stops vehicle 1 while maintaining the current traveling lane.

[0036] On the other hand, as a result of the determination in step S18, the distance W between the left solid white lane marking BL1 and the other lane marking BL2 is L If the distance W is less than the second distance W2 (step S18: Yes), the process proceeds to step S19, and the controller 10 calculates the distance W between the left solid white demarcation line BL1 and the other demarcation line BL2. L The third distance W3 is a threshold value for determining whether the space between the left white solid dividing line BL1 and the dividing line BL2 between the road edge E and the left white solid dividing line BL1 is an emergency parking lane, and is smaller than the second distance W2, for example, 2.5 m.

[0037] As a result of the determination in step S19, the distance W between the left solid white lane marking BL1 and the other lane marking BL2 L is not equal to or greater than the third distance W3 (step S19: No), that is, W LWhen it is W3, the dividing line BL2 existing between the roadside E and the left dividing line BL1 of the solid white line, and the space between the left dividing line BL1 of the solid white line are considered not to be a no-parking zone. Therefore, the process proceeds to step S17, and the controller 10 moves the vehicle 1 closer to the roadside E by a predetermined distance from the roadside E and stops the vehicle 1.

[0038] On the other hand, as a result of the determination in step S19, when the distance W L between the left dividing line BL1 of the solid white line and another dividing line BL2 is equal to or greater than the third distance W3 (step S19: Yes), that is, when the distance W L between the left dividing line BL1 of the solid white line and another dividing line BL2 is equal to or greater than the third distance W3 and less than W2, the dividing line BL2 existing between the roadside E and the left dividing line BL1 of the solid white line, and the space between the left dividing line BL1 of the solid white line have a width sufficient to allow the vehicle to stop, and are considered to be a no-parking zone. Therefore, the process proceeds to step S20, and the controller 10 controls the motor of the electric power steering 33 or the like so that the vehicle 1 enters the no-parking zone (that is, the dividing line BL2 existing between the roadside E and the left dividing line BL1 of the solid white line, and the space between the left dividing line BL1 of the solid white line), and controls the engine 31 and the brake 32 so that a predetermined deceleration (for example, a deceleration of 0.2G or less) is generated until the vehicle speed becomes 0. After the vehicle 1 stops, the controller 10 ends the automatic parking process.

[0039] <Modification Example> Next, a modification example of the present embodiment will be described. In the above-described embodiment, the vehicle 1 equipped with the vehicle control system has been described by taking as an example the case where the vehicle 1 is equipped with the engine 31 as a power source for generating driving force. However, instead of this engine 31, or together with the engine 31, the vehicle 1 may be equipped with a battery and a motor as a power source.

[0040] <Operational Effects> Next, the operational effects of the vehicle control system according to the above-described embodiment and modification example will be described.

[0041] The controller 10 detects the road markings BL, BL1, BL2 and the road edge E from the image captured by the camera 21, and determines that the left marking BL1 of the lane in which the vehicle 1 is traveling is a solid white line, and that the distance W between the road edge E on the left side of the vehicle 1 and the left marking BL1 is S is less than the first distance W1 and no other dividing lines exist between the road edge E and the left-hand dividing line BL1, the controller 10 controls the electric power steering 33 and the brake 32 to move at least a portion of the vehicle 1 between the road edge E and the left-hand dividing line BL1 and stop the vehicle. In other words, if there are no other lanes to the left of the lane in which the vehicle 1 is traveling, and the space between the road edge E and the solid white left-hand dividing line BL1 is not wide enough for the vehicle to travel normally and there are no other dividing lines BL that may define an emergency parking lane, the controller 10 assumes that the lane in which the vehicle 1 is traveling is adjacent to the shoulder, and causes the vehicle 1 to pull over to the road edge E and stop. This makes it possible to accurately determine that the lane in which the vehicle 1 is traveling is adjacent to the shoulder, and to move the vehicle 1 onto the shoulder and stop the vehicle 1, thereby enabling the vehicle 1 to stop at an appropriate position according to the lane in which the vehicle 1 is traveling.

[0042] Furthermore, if the left-hand lane marking BL1 of the lane in which vehicle 1 is traveling is not a solid white line, or if the left-hand lane marking BL1 of the lane in which vehicle 1 is traveling is a solid white line and the distance between road edge E on the left side of vehicle 1 and left-hand lane marking BL1 is equal to or greater than first distance W1, controller 10 controls electric power steering 33 and brake 32 to stop vehicle 1 in the traveling lane. In other words, if there is another lane to the left of the lane in which vehicle 1 is traveling or if there is a space wide enough for the vehicle to travel normally, controller 10 assumes that the lane in which vehicle 1 is traveling is not adjacent to the shoulder and stops vehicle 1 in the current traveling lane. This makes it possible to accurately determine that the lane in which vehicle 1 is traveling is not adjacent to the shoulder, avoid repeated lane changes, and stop vehicle 1 in the current traveling lane, thereby enabling vehicle 1 to be stopped in an appropriate position according to the traveling lane.

[0043] The controller 10 also determines whether the left lane marking BL1 of the lane in which the vehicle 1 is traveling is a solid white line, and whether the distance W between the road edge E on the left side of the vehicle 1 and the left lane marking BL1 is Sis less than the first distance W1, and another marking line BL2 exists between the road edge E and the left marking line BL1, and the distance W between the other marking line BL2 and the left marking line BL1 is L is less than a second distance W2 that is smaller than the first distance W1, the controller 10 controls the electric power steering 33 and the brake 32 to move at least a portion of the vehicle 1 between the road edge E and the left dividing line BL1 and stop the vehicle. In other words, when there is no other lane to the left of the driving lane of the vehicle 1, the space between the road edge E and the solid white left dividing line BL1 is not wide enough for the vehicle to travel normally, and the space between another dividing line BL2 between the road edge E and the solid white left dividing line BL1 and the solid white left dividing line BL1 is also not wide enough for the vehicle to travel normally, the controller 10 assumes that the driving lane of the vehicle 1 is adjacent to a shoulder or an emergency parking lane, and moves the vehicle 1 close to the road edge E or enters and stops the vehicle 1 in an emergency parking lane. This makes it possible to accurately determine that the driving lane of the vehicle 1 is adjacent to a shoulder or an emergency parking lane, and to move the vehicle 1 into and stop the vehicle 1 in the shoulder or emergency parking lane, thereby stopping the vehicle 1 in an appropriate position according to the driving lane.

[0044] The controller 10 also determines whether the left lane marking BL1 of the lane in which the vehicle 1 is traveling is a solid white line, and whether the distance W between the road edge E on the left side of the vehicle 1 and the left lane marking BL1 is S is less than the first distance W1, and another marking line BL2 exists between the road edge E and the left marking line BL1, and the distance W between the other marking line BL2 and the left marking line BL1 is Lis less than a second distance W2 that is smaller than the first distance W1, and the distance between the other marking line BL2 and the left marking line BL1 is equal to or greater than a third distance W3 that is smaller than the second distance W2, the controller 10 controls the electric power steering 33 and the brake 32 to cause the vehicle 1 to enter and stop between the other marking line BL2 and the left marking line BL1. In other words, if there is no other lane to the left of the driving lane of the vehicle 1, the space between the road edge E and the solid white left marking line BL1 is not wide enough for the vehicle to travel normally, and the space between the other marking line BL2 between the road edge E and the solid white left marking line BL1 and the solid white left marking line BL1 is not wide enough for the vehicle to travel normally but is wide enough for the vehicle to stop, the controller 10 assumes that the driving lane of the vehicle 1 is adjacent to an emergency parking lane and causes the vehicle 1 to enter and stop in the emergency parking lane. This allows the system to accurately determine whether the lane in which the vehicle 1 is traveling is adjacent to the emergency parking lane, and allows the vehicle 1 to enter and stop in the emergency parking lane, thereby stopping the vehicle 1 at an appropriate position according to the lane in which the vehicle is traveling. [Explanation of symbols]

[0045] 1 vehicle 10 Controller 10a processor 10b memory 21 Camera 22 Radar 23 Vehicle speed sensor 24 Acceleration sensor 25 Yaw rate sensor 26 Steering angle sensor 27 Accelerator sensor 28 Brake sensor 29 Positioning System 30 Navigation System 31 Engine 32 Brake 33 Electric power steering E Roadside BL Lane BL1 Left lane marking BL2 Other lane markings between the road edge and the left lane marking

Claims

1. A vehicle control system for automatically stopping a vehicle, a camera that photographs the area ahead of the vehicle; a controller configured to control a steering device and a braking device of the vehicle to stop the vehicle based on the image of the front of the vehicle captured by the camera; and The controller Detecting road markings and road edges from the image captured by the camera; when the left-hand lane marking of the vehicle's travel lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left-hand lane marking is less than a first distance, and no other lane marking exists between the road edge and the left-hand lane marking, controlling the steering device and the braking device so that at least a portion of the vehicle enters and stops between the road edge and the left-hand lane marking. Vehicle control system.

2. 2. The vehicle control system of claim 1, wherein the controller controls the steering device and the braking device to stop the vehicle in the driving lane when the left-hand dividing line of the vehicle's driving lane is not a solid white line, or when the left-hand dividing line of the vehicle's driving lane is a solid white line and the distance between the road edge on the left side of the vehicle and the left-hand dividing line is equal to or greater than the first distance.

3. A vehicle control system for automatically stopping a vehicle, a camera that photographs the area ahead of the vehicle; a controller configured to control a steering device and a braking device of the vehicle to stop the vehicle based on the image of the front of the vehicle captured by the camera; and The controller Detecting road markings and road edges from the image captured by the camera; When the left-hand lane marking of the vehicle's travel lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left-hand lane marking is less than a first distance, and another lane marking exists between the road edge and the left-hand lane marking and the distance between the other lane marking and the left-hand lane marking is less than a second distance that is smaller than the first distance, the steering device and the braking device are controlled so that at least a portion of the vehicle enters and stops between the road edge and the left-hand lane marking. Vehicle control system.

4. 4. The vehicle control system of claim 3, wherein the controller controls the steering device and the braking device to move the vehicle between the other dividing line and the left dividing line and stop it when the left dividing line of the vehicle's lane is a solid white line, the distance between the road edge on the left side of the vehicle and the left dividing line is less than the first distance, and another dividing line exists between the road edge and the left dividing line and the distance between the other dividing line and the left dividing line is less than the second distance, and the distance between the other dividing line and the left dividing line is equal to or greater than a third distance that is smaller than the second distance.

5. A vehicle control method for automatically stopping a vehicle, comprising: A camera photographs an area in front of the vehicle; a step of a controller controlling a steering device and a braking device of the vehicle to stop the vehicle based on an image of the front of the vehicle captured by the camera; and The step of the controller controlling the steering device and the braking device includes: a step in which the controller detects road markings and road edges from the image captured by the camera; and a step of the controller controlling the steering device and the braking device to move at least a portion of the vehicle between the road edge and the left lane marking and stop the vehicle when the left lane marking of the vehicle is a solid white line, the distance between the road edge on the left side of the vehicle and the left lane marking is less than a first distance, and no other lane marking exists between the road edge and the left lane marking. Vehicle control method.

6. A vehicle control method for automatically stopping a vehicle, comprising: A camera photographs an area in front of the vehicle; a step of a controller controlling a steering device and a braking device of the vehicle to stop the vehicle based on an image of the front of the vehicle captured by the camera; and The step of the controller controlling the steering device and the braking device includes: a step in which the controller detects road markings and road edges from the image captured by the camera; and a step of the controller controlling the steering device and the braking device to move at least a portion of the vehicle between the road edge and the left lane marking and stop the vehicle when the left lane marking of the vehicle is a solid white line, the distance between the road edge on the left side of the vehicle and the left lane marking is less than a first distance, and another lane marking exists between the road edge and the left lane marking and the distance between the other lane marking and the left lane marking is less than a second distance that is smaller than the first distance. Vehicle control method.

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