Vehicle control device

Abstract

To suppress excessive warnings that give troublesomeness to a driver.SOLUTION: A control device 30 includes: a recognition section 31 for recognizing a peripheral state of a vehicle 1; and a warning control section 32 for issuing a warning to a crew of the vehicle 1 via a warning device 90 based on a recognition result of the recognition section 31. The recognition section 31 recognizes a linear object extending from a left side of the vehicle 1 to a front side as a left side roadway boundary for dividing the left side of an own lane, and recognizes a linear object extending from a right side of the vehicle 1 to the front side as a right side roadway boundary for dividing the right side of the own lane. The warning control section 32 issues a warning when the vehicle 1 approaches the linear object recognized as the left side roadway boundary or the linear object recognized as the right side roadway boundary. When one of the linear objects recognized as the left side roadway boundary and the linear object recognized as the right side roadway boundary is connected to the other, the warning control section suppresses the warning when the vehicle 1 approaches the linear object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device that controls a vehicle. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for automobiles and other vehicles in order to further improve road safety and convenience.

[0003] An example of a driving assistance technology is one that recognizes the lane in which a vehicle should be traveling (the area between the right-hand and left-hand lane markings) from an image captured by a camera mounted on the vehicle, and warns the driver if it is determined that the driver of the vehicle is about to deviate from the lane unintentionally, or has deviated (see, for example, Patent Documents 1 and 2 below). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5692668 [Patent Document 2] Patent No. 5716945 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the conventional technology has room for improvement in terms of appropriately warning the driver while suppressing excessive warnings that may be bothersome to the driver.

[0006] The present invention provides a vehicle control device that can appropriately issue a warning to a driver while suppressing excessive warnings that may be bothersome to the driver. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an alarm control unit that can issue an alarm to an occupant of the vehicle via an alarm device provided in the vehicle based on the recognition result of the recognition unit; Equipped with The recognition unit A linear object extending from the left side of the vehicle toward the front is recognized as a left lane boundary that defines the left side of the lane in which the vehicle is traveling; A linear object extending from the right side of the vehicle toward the front is recognized as a right lane boundary that defines the right side of the lane in which the vehicle is traveling; The alarm control unit The warning can be issued when the vehicle approaches a linear object recognized as the left lane boundary or a linear object recognized as the right lane boundary, When one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other, the warning is suppressed when the vehicle approaches the linear object. death , The recognition unit When a linear object extending forward from the left side of the vehicle is connected to another linear object extending forward from the right side of the vehicle, the linear object is more difficult to recognize as the left lane boundary than when the linear object is not connected to the other linear object, When a linear object extending forward from the right side of the vehicle is connected to another linear object extending forward from the left side of the vehicle, the linear object is made more difficult to recognize as the right lane boundary than when the linear object is not connected to the other linear object. A vehicle control device. Another aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an alarm control unit that can issue an alarm to an occupant of the vehicle via an alarm device provided in the vehicle based on the recognition result of the recognition unit; Equipped with The recognition unit A linear object extending from the left side of the vehicle toward the front is recognized as a left lane boundary that defines the left side of the lane in which the vehicle is traveling; A linear object extending from the right side of the vehicle toward the front is recognized as a right lane boundary that defines the right side of the lane in which the vehicle is traveling; The alarm control unit The warning can be issued when the vehicle approaches a linear object recognized as the left lane boundary or a linear object recognized as the right lane boundary, When one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other, the warning is suppressed when the vehicle approaches the linear object; The recognition unit The vehicle is capable of recognizing other vehicles traveling in front of the vehicle, The alarm control unit When the distance between the linear object recognized as the left lane boundary or the right lane boundary and the other vehicle is equal to or less than a threshold, the warning is suppressed when the vehicle approaches the linear object. A vehicle control device. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide a vehicle control device that can appropriately issue a warning to the driver while suppressing excessive warnings that may be bothersome to the driver. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30 according to an embodiment. [Figure 2] 3A and 3B are diagrams illustrating a first example and a second example of control of the vehicle 1 by the control device 30. [Figure 3] 10 is a diagram illustrating a third example of control of the vehicle 1 by the control device 30. FIG. [Figure 4] 10 is a diagram illustrating a fourth example of control of the vehicle 1 by the control device 30. FIG. [Figure 5] 4 is a flowchart showing an example of processing executed by the control device 30. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of a vehicle control device of the present invention will be described below with reference to the drawings. The following embodiment does not limit the present invention, and not all of the elements described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. Note that, below, identical or similar elements are denoted by identical or similar reference numerals, and their description may be omitted or simplified.

[0011] [vehicle] First, the vehicle of this embodiment will be described. The vehicle 1 of this embodiment (hereinafter also referred to as "host vehicle") shown in Fig. 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0012] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be a steerable wheel, or both may be steerable wheels.

[0013] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30 which is an example of a vehicle control device of the present invention, an electric power steering (EPS: Electric Power Steering) system 40, a driving force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and an alarm device 90.

[0014] The sensor group 10 is configured to include an external sensor 11 that acquires information about the periphery of the vehicle 1 (hereinafter also referred to as "peripheral information"), and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and is used for controlling the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0015] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is a digital camera that captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 30. As the camera 111, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0016] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and receives reflected sound from objects around the vehicle 1, thereby detecting the distance and direction of the objects. The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and receives reflected waves from objects around the vehicle 1, thereby detecting the distance and direction of the objects. For example, a millimeter wave radar can be used as the radar 113.

[0017] The external sensor 11 may be configured to include a LiDAR (Light Detection and Ranging) instead of or in addition to the sonar 112 or the radar 113. In this case, the LiDAR emits laser light to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected light from an object present around the vehicle 1 to detect the distance and direction to the object.

[0018] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0019] The wheel sensor 121 detects the rotation angle of one or more wheels of the vehicle 1. As an example, the wheel sensor 121 detects the rotation angle of each of the left rear wheel and the right rear wheel. As the wheel sensor 121, for example, an angle sensor or a displacement sensor can be adopted.

[0020] The vehicle speed sensor 122 detects the vehicle speed VP, which is the traveling speed (in other words, the moving speed of the vehicle body) of the vehicle 1. For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the number of rotations of a countershaft (not shown) provided in the vehicle 1.

[0021] The inertial measurement unit 123 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that instead of the inertial measurement unit 123, the vehicle sensor 12 may be configured to include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0022] The occupant camera 124 is a digital camera that captures an image of the interior of the vehicle 1 and outputs image data of the obtained interior image to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is provided so as to be able to capture an image of the head of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front (in other words, to be able to capture an image of the face). As with the camera 111, the occupant camera 124 can be a digital camera that uses an imaging element such as a CCD or CMOS. Note that in this embodiment, the image data of the interior image obtained by the occupant camera 124 capturing an image of the interior of the vehicle serves as information that can identify the direction of the driver's line of sight.

[0023] The operation detection unit 125 detects an operation performed using the operation input unit 80 that is operable by the driver. In this embodiment, the operation input unit 80 may include, for example, an operation button (not shown) that accepts an operation to switch the LKAS (described later) on (in other words, activated) and off (in other words, not activated). In this case, the operation detection unit 125 can detect an operation to turn the LKAS on / off.

[0024] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 is realized by a capacitance sensor or the like. In this case, the capacitance sensor is provided at a portion where the driver touches the steering wheel 46 when the steering wheel 46 is being properly gripped.

[0025] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) configured with a flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 and the like.

[0026] The GNSS receiver 21 identifies the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Note that the navigation device 20 may acquire, for example, detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and identify or complement the current position of the vehicle 1 by an INS (Inertial Navigation System) that uses the detection values ​​of the vehicle sensors 12.

[0027] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (e.g., a touchpad). The speaker 23 is configured to be able to output audio to a passenger of the vehicle 1 (e.g., the driver).

[0028] For example, the navigation device 20 searches for a route from the current position of the vehicle 1 to a destination set by the driver using the touch panel 22 by referring to the map information database 24. Then, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23 based on the searched route. The navigation device 20 may also cause the touch panel 22 to display a predetermined information in accordance with an instruction from the control device 30. Furthermore, the navigation device 20 may output predetermined information to the control device 30, such as information indicating the identified current position of the vehicle 1 or information indicating an operation received via the touch panel 22.

[0029] The control device 30 is a computer that has, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium (e.g., a flash memory) that stores various information, an input / output unit that controls input and output of data between the inside and outside of the control device 30, and the like (all not shown), and that performs overall control of the vehicle 1. For example, the control device 30 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Specific examples of control by the control device 30 will be described later, so a description thereof will be omitted here.

[0030] The EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0031] The steering angle sensor 41 detects the steering angle θst of the steering wheel 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering wheel 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0032] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46 in accordance with instructions from the EPS ECU 45, thereby assisting the driver in operating the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43, and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0033] The EPS ECU 45 is a computer that includes, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the EPS ECU 45 (all of which are not shown), and is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (for example, the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. The EPS ECU 45 can also control the EPS system 40 in accordance with instructions from the control device 30.

[0034] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. to the control device 30. Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering wheel 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0035] The driving force control system 50 includes a driving ECU 51 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 51 is a computer that controls the driving force control system 50 and is realized by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the driving ECU 51 (all of which are not shown). For example, the driving ECU 51 controls the power output from a driving source of the vehicle 1 based on operation of an accelerator pedal 52 provided on the vehicle 1. The driving ECU 51 can also control the driving force control system 50 (for example, the driving source) according to instructions from the control device 30.

[0036] The braking force control system 60 includes a braking ECU 61 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the braking ECU 61 (all of which are not shown), and is realized by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force corresponding to operation of the brake pedal 62 is generated. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0037] The communication unit 70 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0038] The warning device 90 is a device that issues a warning to the driver under the control of the control device 30. The warning device 90 includes, for example, an MID (Multi-Information Display) 91 and a buzzer 92. The MID 91 is configured with a display device such as a liquid crystal display or an OLED, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). In this embodiment, the MID 91 can display a predetermined warning image in accordance with an instruction from the control device 30. The warning image can be, for example, an image indicating that there is a possibility that the vehicle 1 will deviate from the current lane LA. Here, the current lane LA is the lane in which the vehicle 1 is traveling.

[0039] The buzzer 92 is configured to be able to output a predetermined alarm sound. In this embodiment, the buzzer 92 can output the predetermined alarm sound in accordance with an instruction from the control device 30. The buzzer 92 may be shared with the above-mentioned speaker 23. In other words, the "buzzer 92" in the following description may be read as the "speaker 23."

[0040] [Control device] Next, a more detailed description will be given of the control device 30. The control device 30 includes a recognition unit 31 and an alarm control unit 32 as functional units realized by a processor executing a program stored in a storage unit of the control device 30, for example.

[0041] The recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, sonar 112, and radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0042] More specifically, the recognition unit 31 recognizes the position, type, speed, acceleration, etc. of an object present in the vicinity of the vehicle 1. In this case, the recognition unit 31 recognizes the position of the object as a position on absolute coordinates with a representative point of the vehicle 1 (for example, the center of gravity or the center of the drive shaft) as the origin. This makes it possible to recognize the relative position of the vehicle 1 and the object present in its vicinity. Furthermore, on the above absolute coordinates, the position of the object may be represented using a representative point such as the center of gravity or a corner of the object, or may be represented as an area.

[0043] The recognition unit 31 can recognize, for example, obstacles present around the vehicle 1. Here, examples of obstacles include other traffic participants (e.g., other vehicles and pedestrians) present around the vehicle 1, objects fallen on the road, and the like.

[0044] The recognition unit 31 can also recognize a lane boundary TB of the host lane LA, which is the lane on which the vehicle 1 is traveling, from, for example, a peripheral image captured by the camera 111. More specifically, the recognition unit 31 recognizes a linear object extending from the left side of the vehicle 1 toward the front as a left lane boundary TBL that defines the left side of the host lane LA on which the vehicle 1 is traveling, and recognizes a linear object extending from the right side of the vehicle 1 toward the front as a right lane boundary TBR that defines the right side of the host lane LA on which the vehicle 1 is traveling. Examples of linear objects that can be recognized as lane boundaries TB include markings that define lane boundaries, as well as road repair marks and drainage ditches.

[0045] The recognition unit 31 can also recognize the position of the vehicle 1 relative to the current lane LA (for example, the distance from the vehicle 1 to the lane boundary TB of the current lane LA, and the time it takes for the vehicle 1 to reach the lane boundary TB of the current lane LA). Furthermore, the recognition unit 31 can also recognize the merging point XP between the current lane LA and another lane LB.

[0046] The warning control unit 32 issues a warning to an occupant (e.g., the driver) of the vehicle 1 via the warning device 90 based on the recognition result of the recognition unit 31. More specifically, the warning control unit 32 issues a warning when the vehicle 1 approaches a linear object recognized as the left lane boundary TBL or a linear object recognized as the right lane boundary TBR. On the other hand, when one of the linear object recognized as the left lane boundary TBL and the linear object recognized as the right lane boundary TBR is connected to the other, the warning control unit 32 suppresses the warning when the vehicle 1 approaches the linear object.

[0047] This configuration makes it possible to suppress the issuance of an alarm when the vehicle 1 approaches, for example, a drainage ditch or repair mark on the road, or a dividing line at a merging point. Therefore, it is possible to appropriately issue an alarm to the driver while suppressing excessive alarms that may be bothersome to the driver. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0048] [Vehicle control example] Next, an example of control of the vehicle 1 by the control device 30 will be described with reference to FIGS.

[0049] [First example of vehicle control] In Figure 2, a vehicle 1 is traveling on the current lane LA, which is an additional lane merging into the main road RDm, toward the merging point XP. The main road RDm is a two-lane road divided into a right lane LR and a left lane LL, which is an additional lane LB, by a center line (dashed line) CL. The left lane marking LAL of the current lane LA is connected to the left lane marking RDmL of the main road RDm. The marking portion RDma of the left lane marking RDmL at the merging point XP is represented by a dashed line, and the other portion is represented by a solid line.

[0050] When the vehicle 1 is traveling at a point away from the merging point XP, the control device 30 recognizes the left lane marking LAL (linear object OB1) of the vehicle's lane LA as the left lane boundary TBL, and recognizes the right lane marking LAR (linear object OB2) of the vehicle's lane LA as the right lane boundary TBR. The control device 30 then issues an alarm when the vehicle 1 approaches the left lane marking LAL or the right lane marking LAR until the vehicle 1 approaches the merging point XP.

[0051] On the other hand, when the vehicle 1 approaches the merging point XP, the control device 30 recognizes the lane marking portion RDma (linear object OB3) of the main road RDm at the merging point XP as the right lane boundary TBR of the vehicle's own lane LA. The control device 30 then determines that the lane marking portion RDma represents a broken line and suppresses issuing an alarm when the vehicle 1 approaches the lane marking portion RDma. This is because if the linear object OB3 recognized as the right lane boundary TBR at the merging point XP represents a broken line, there is a high possibility that the linear object OB3 is the lane marking portion RDma of the merging point XP, and there is little need for an alarm even if the vehicle is approaching the lane LA.

[0052] In this way, when the vehicle 1 approaches a linear object OB3 that is likely to be the dividing line portion RDma of the merging point XP, the issuance of an alarm is suppressed, thereby making it possible to appropriately warn the driver while suppressing excessive alarms that may be annoying to the driver.

[0053] [Second example of vehicle control] Also, in Figure 2, when vehicle 1 approaches the merging point XP, the dividing line portion RDma (linear object OB3) of the main road RDm, which is recognized as the right lane boundary TBR of the vehicle's own lane LA, is not on the extension line EL of the right lane boundary LAR (linear object OB2) of the vehicle's own lane LA, which was recognized as the right lane boundary TBR in the past (i.e., before vehicle 1 approached the merging point XP).

[0054] In such a situation, the control device 30 may suppress the issuance of an alarm when the vehicle 1 approaches the lane LA's lane dividing line portion RDma (linear object OB3) of the main road RDm. When the vehicle 1 approaches the merging point XP, if the linear object OB3 recognized as the right lane boundary TBR of the vehicle 1's lane LA is not on the extension line EL of the right lane dividing line LAR (linear object OB2) previously recognized as the right lane boundary TBR, the linear object OB3 is likely to be a drainage ditch or repair marks on the road, and there is little need for an alarm.

[0055] In this way, when the vehicle 1 approaches a linear object OB3 that is likely to be a drainage ditch or repair mark on the road, an alarm is suppressed, making it possible to appropriately warn the driver while suppressing excessive alarms that may be annoying to the driver.

[0056] [Third example of vehicle control] The road RDa shown in Figure 3 is a two-lane road divided into a right lane LR and a left lane LL by a center line (dashed line) CL. A vehicle 1 is traveling in the left lane LL of the road RDa. On the road RDa, there is a linear object OB6 extending diagonally from the center line CL toward the left lane LL in the traveling direction of the vehicle 1. The linear object OB6 is connected to the left lane dividing line RDmL of the left lane LL.

[0057] When the vehicle 1 is traveling at a point away from the linear object OB6, the control device 30 recognizes the left lane marking LAL (linear object OB4) of the left lane LL, which is the vehicle's lane LA, as the left lane boundary TBL, and recognizes the center line CL (linear object OB5) as the right lane boundary TBR. The control device 30 then issues an alarm when the vehicle 1 approaches the left lane marking LAL or the center line CL until the vehicle 1 approaches the linear object OB6.

[0058] On the other hand, when the vehicle 1 approaches the linear object OB6, the control device 30 recognizes the linear object OB6 as the right lane boundary TBR of the own lane LA. The control device 30 then determines that the linear object OB6 is not on the extension line EL of the center line CL (linear object OB5) that was previously recognized as the right lane boundary TBR of the own lane LA (i.e., before the vehicle 1 approached the linear object OB6), and suppresses the issuance of an alarm when the vehicle 1 approaches the linear object OB6. If the linear object OB6 is not on the extension line EL of the center line CL (linear object OB5), it is highly likely that the linear object OB6 is a drainage ditch or repair marks on the road, and there is little need for an alarm even if the own lane LA is approaching.

[0059] In this way, when the vehicle 1 approaches a linear object OB6 that is likely to be a drainage ditch or repair mark on the road, the issuance of an alarm is suppressed, making it possible to appropriately warn the driver while suppressing excessive alarms that may be annoying to the driver.

[0060] [Fourth example of vehicle control] In Fig. 4, similar to Fig. 2, vehicle 1 is traveling on its own lane LA, which is an additional lane merging with main road RDm, toward merging point XP. In front of vehicle 1, there is another vehicle V traveling on almost the same trajectory as vehicle 1.

[0061] In such a situation, the control device 30 may suppress the issuance of an alarm when the vehicle 1 approaches the linear object OB3 if the distance between the linear object OB3 recognized as the right lane boundary TBR at the merging point XP and the other vehicle V is equal to or less than a threshold. For example, if the other vehicle V has straddled the linear object OB3 or is estimated to straddle it, the control device 30 suppresses the issuance of an alarm that the vehicle 1 has approached the linear object OB3. This is because, if the distance between the linear object OB3 recognized as the right lane boundary TBR of the own lane LA and the other vehicle V is equal to or less than the threshold, the linear object OB3 is likely to be a drainage ditch or repair marks on the road, or a dividing line at the merging point, and there is a high possibility that it will not be a problem if the vehicle 1 straddles it.

[0062] In this way, by suppressing the issuance of an alarm when the vehicle 1 approaches a linear object OB3, which is likely to be a drainage ditch or repair mark on the road, it is possible to appropriately warn the driver while suppressing excessive alarms that may be annoying to the driver.

[0063] [Vehicle control example 5] In the first to fourth examples above, the control device 30 may cancel the suppression of the alarm if it determines that a linear object recognized as the left lane boundary TBL and a linear object recognized as the right lane boundary TBR have become parallel while the alarm is being suppressed.

[0064] 2 or the fourth example described in FIG. 4, when the warning is suppressed, after the vehicle 1 passes the merging point XP and enters the left lane LL of the main road RDm, the control device 30 recognizes the left lane boundary RDmL (linear object OB7) of the main road RDm as the left lane boundary TBL and the center line CL (linear object OB5) as the right lane boundary TBR. The control device 30 then determines that the left lane boundary RDmL (linear object OB7) and the center line CL (linear object OB5) are parallel, and cancels the suppression of the warning.

[0065] 3, when the warning is suppressed, after the vehicle 1 passes a linear object OB6, the control device 30 recognizes the left lane boundary RDmL (linear object OB7) of the road RDa as the left lane boundary TBL and the center line CL (linear object OB5) as the right lane boundary TBR.The control device 30 then determines that the left lane boundary RDmL (linear object OB7) and the center line CL (linear object OB5) are parallel, and cancels the suppression of the warning.

[0066] As described above, when the alarm is suppressed, if it is determined that the linear object OB7 recognized as the left lane boundary TBL and the linear object OB5 recognized as the right lane boundary TBR have become parallel, the alarm suppression can be released, thereby enabling the alarm suppression to be released at an appropriate time after the alarm suppression, thereby improving the safety of the vehicle 1.

[0067] [Vehicle Control Example 6] In the first and second examples described in Fig. 2 or the fourth example described in Fig. 4, when the warning is suppressed, the control device 30 may cancel the warning suppression when the vehicle 1 passes through the merging point XP. This allows the warning suppression to be canceled at an appropriate timing after the warning suppression, thereby improving the safety of the vehicle 1.

[0068] [Processing performed by the control device] Next, an example of processing executed by the control device 30 will be described with reference to Fig. 5. As shown in Fig. 5, first, the control device 30 recognizes a left lane boundary TBL and a right lane boundary TBR (step S1). More specifically, the control device 30 recognizes a linear object extending from the left side of the vehicle 1 toward the front as the left lane boundary TBL that defines the left side of the lane LA on which the vehicle 1 is traveling. The control device 30 also recognizes a linear object extending from the right side of the vehicle 1 toward the front as the right lane boundary TBR that defines the right side of the lane LA on which the vehicle 1 is traveling.

[0069] Next, the control device 30 determines whether one of the linear object recognized as the left lane boundary TBL and the linear object recognized as the right lane boundary TBR is connected to the other (step S2). If it is determined that one of the linear object recognized as the left lane boundary TBL and the linear object recognized as the right lane boundary TBR is not connected to the other (step S2: NO), the control device 30 ends the series of processes shown in FIG.

[0070] On the other hand, if it is determined that one of the linear object recognized as the left lane boundary TBL and the linear object recognized as the right lane boundary TBR is connected to the other (step S2: YES), the control device 30 proceeds to processing of step S3.

[0071] In the processing of step S3, the control device 30 determines whether the linear object recognized as the left lane boundary TBL is on an extension of the linear object previously recognized as the left lane boundary TBL, and whether the linear object recognized as the right lane boundary TBR is on an extension of the linear object previously recognized as the right lane boundary TBR (step S3).

[0072] If it is determined that the linear object recognized as the left lane boundary TBL is not on the extension line of the linear object previously recognized as the left lane boundary TBL, or if it is determined that the linear object recognized as the right lane boundary TBR is not on the extension line of the linear object previously recognized as the right lane boundary TBR (step S3: NO), the control device 30 prohibits the issuance of an alarm (step S6) and terminates the series of processes shown in Figure 5.

[0073] On the other hand, if it is determined that the linear object recognized as the left lane boundary TBL is on the extension of the linear object previously recognized as the left lane boundary TBL, or if it is determined that the linear object recognized as the right lane boundary TBR is on the extension of the linear object previously recognized as the right lane boundary TBR (step S3: YES), the control device 30 determines whether the linear object is a broken line (step S4).If it is determined that the linear object is a broken line (step S4: YES), the control device 30 prohibits the issuance of an alarm (step S6) and ends the series of processes shown in FIG.

[0074] Furthermore, if it is determined that the linear object is not a broken line (step S4: NO), the control device 30 determines whether or not another vehicle V has crossed over the linear object (step S5). If it is determined that another vehicle V has crossed over the linear object (step S5: YES), the control device 30 prohibits issuing an alarm (step S6) and ends the series of processes shown in Fig. 5. On the other hand, if it is determined that another vehicle V has not crossed over the linear object (step S5: NO), the control device 30 ends the series of processes shown in Fig. 5.

[0075] In addition, in step S6, the intensity of the alarm may be reduced instead of prohibiting the alarm. For example, while the control device 30 normally issues an alarm by causing the MID 91 to display a predetermined alarm image and the buzzer 92 to output a predetermined alarm sound, the control device 30 may issue an alarm by only causing the MID 91 to display the predetermined alarm image.

[0076] Although one embodiment of the present invention has been described above with reference to the drawings, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0077] For example, in the above-described embodiment, when linear objects OB1, OB4 extending forward from the left side of vehicle 1 are connected to other linear objects OB3, OB6 extending forward from the right side of vehicle 1, the recognition unit 31 may make it more difficult to recognize the linear objects as the left lane boundary TBL compared to when they are not connected to the other linear objects OB3, OB6.

[0078] In addition, when linear objects OB3 and OB6 extending forward from the right side of the vehicle 1 are connected to other linear objects OB1 and OB4 extending forward from the left side of the vehicle 1, the recognition unit 31 may make it more difficult to recognize the linear objects as the right lane boundary TBR compared to when they are not connected to the other linear objects OB1 and OB4.

[0079] In this way, by making it difficult to recognize linear objects OB3 and OB6, which are likely to be drainage ditches or repair marks on the road, or dividing lines at a merging point, as the left lane boundary TBL or the right lane boundary TBR, it is possible to prevent an alarm from being issued when vehicle 1 approaches a drainage ditches or repair marks on the road, or a dividing line portion RDma at a merging point XP.

[0080] This specification etc. describes at least the following matters. Note that the components etc. corresponding to those in the above-mentioned embodiment are shown in parentheses, but are not limited to these. (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding situation of the vehicle; an alarm control unit (alarm control unit 32) that can issue an alarm to an occupant of the vehicle via an alarm device (alarm device 90) provided in the vehicle based on the recognition result of the recognition unit; Equipped with The recognition unit A linear object (linear object OB2, linear object OB5) extending from the left side of the vehicle toward the front is recognized as a left lane boundary (left lane boundary TBL) that defines the left side of the lane (host lane LA) in which the vehicle is traveling, A linear object (linear object OB1, linear object OB4) extending from the right side of the vehicle toward the front is recognized as a right lane boundary (right lane boundary TBR) that defines the right side of the lane in which the vehicle is traveling, The alarm control unit The warning can be issued when the vehicle approaches a linear object recognized as the left lane boundary or a linear object recognized as the right lane boundary (linear object OB3, linear object OB6). When one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other, the warning is suppressed when the vehicle approaches the linear object. Vehicle control device.

[0081] According to (1), if one of a linear object recognized as the left lane boundary and a linear object recognized as the right lane boundary is connected to the other, an alarm is suppressed when the vehicle approaches the linear object. This makes it possible to suppress an alarm when the vehicle approaches, for example, a drainage ditch or repair mark on the road, or a dividing line at a merging point. Therefore, it is possible to appropriately warn the driver while suppressing excessive alarms that may be annoying to the driver. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0082] (2) The vehicle control device according to (1), The alarm control unit If one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other and the linear object represents a broken line, the alarm is suppressed when the vehicle approaches the linear object. Vehicle control device.

[0083] If a linear object extending forward from the left or right side of the vehicle represents a broken line, the linear object is likely to be a dividing line at a merging point. According to (2), by suppressing an alarm in consideration of such a possibility, it is possible to suppress the issuance of an alarm when the vehicle approaches a dividing line or the like at a merging point.

[0084] (3) The vehicle control device according to (1), The recognition unit If the linear object recognized as the left lane boundary is connected to the linear object recognized as the right lane boundary and is not on an extension line of the linear object previously recognized as the left lane boundary, the warning is suppressed when the vehicle approaches the linear object; If the linear object recognized as the right lane boundary is connected to the linear object recognized as the left lane boundary and is not on an extension line (extension line EL) of the linear object previously recognized as the right lane boundary, the alarm is suppressed when the vehicle approaches the linear object. Vehicle control device.

[0085] If a linear object extending forward from the left or right of the vehicle is not on an extension of a linear object previously recognized as a lane boundary, the linear object is likely to be a drainage ditch or repair mark on the road. According to (3), by suppressing an alarm in consideration of such a possibility, it is possible to suppress the issuance of an alarm when the vehicle approaches a drainage ditch or repair mark on the road.

[0086] (4) The vehicle control device according to (1), The recognition unit When a linear object extending forward from the left side of the vehicle is connected to another linear object extending forward from the right side of the vehicle, the linear object is more difficult to recognize as the left lane boundary than when the linear object is not connected to the other linear object, When a linear object extending forward from the right side of the vehicle is connected to another linear object extending forward from the left side of the vehicle, the linear object is made more difficult to recognize as the right lane boundary than when the linear object is not connected to the other linear object. Vehicle control device.

[0087] According to (4), by making it difficult to recognize linear objects that are likely to be drainage ditches or repair marks on the road, or dividing lines at merging points, as lane boundaries, it is possible to prevent alarms from being issued when the vehicle approaches drainage ditches or repair marks on the road, or dividing lines at merging points.

[0088] (5) The vehicle control device according to (1), The recognition unit The vehicle is capable of recognizing other vehicles traveling in front of the vehicle, The alarm control unit When the distance between the linear object recognized as the left lane boundary or the right lane boundary and the other vehicle is equal to or less than a threshold, the warning is suppressed when the vehicle approaches the linear object. Vehicle control device.

[0089] When the distance between another vehicle and a linear object extending forward from the left or right of the vehicle is equal to or less than a threshold, the linear object is likely to be a drainage ditch or repair mark on the road, or a dividing line at a merging point, and there is a high possibility that it will be safe for the vehicle to cross over it. According to (5), by suppressing an alarm in consideration of such a possibility, it is possible to suppress the issuance of an alarm when the vehicle approaches a drainage ditch or repair mark on the road, or a dividing line at a merging point.

[0090] (6) A vehicle control device according to any one of (1) to (5), The alarm control unit determining whether or not the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary have become parallel while the warning is suppressed; canceling the suppression of the warning when it is determined that the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary have become parallel; Vehicle control device.

[0091] According to (6), after the warning is suppressed, the warning suppression can be cancelled at an appropriate timing, thereby improving the safety of the vehicle.

[0092] (7) A vehicle control device according to any one of (1) to (5), The recognition unit The vehicle is capable of recognizing a merging point (merging point XP) where the vehicle's own lane and another lane (another lane LB) merge, The alarm control unit When the vehicle passes the junction while the warning is suppressed, the suppression of the warning is canceled. Vehicle control device.

[0093] According to (7), after the warning is suppressed, the warning suppression can be cancelled at an appropriate timing, thereby improving the safety of the vehicle. [Explanation of symbols]

[0094] 1 vehicle 30 Control device (vehicle control device) 31 Recognition part 32 Alarm control section 90 Alarm device EL extension line LA own lane LB Other lanes OB1 Linear object OB2 Linear object OB3 Linear object OB4 Linear object OB5 Linear object OB6 Linear object TBL right track boundary TBR left track boundary XP Merging Point

Claims

1. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an alarm control unit that can issue an alarm to an occupant of the vehicle via an alarm device provided in the vehicle based on the recognition result of the recognition unit; Equipped with The recognition unit A linear object extending from the left side of the vehicle toward the front is recognized as a left lane boundary that defines the left side of the lane in which the vehicle is traveling; A linear object extending from the right side of the vehicle toward the front is recognized as a right lane boundary that defines the right side of the lane in which the vehicle is traveling; The alarm control unit The warning can be issued when the vehicle approaches a linear object recognized as the left lane boundary or a linear object recognized as the right lane boundary, When one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other, the warning is suppressed when the vehicle approaches the linear object; The recognition unit When a linear object extending forward from the left side of the vehicle is connected to another linear object extending forward from the right side of the vehicle, the linear object is more difficult to recognize as the left lane boundary than when the linear object is not connected to the other linear object, When a linear object extending forward from the right side of the vehicle is connected to another linear object extending forward from the left side of the vehicle, the linear object is made more difficult to recognize as the right lane boundary than when the linear object is not connected to the other linear object. Vehicle control device.

2. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; an alarm control unit that can issue an alarm to an occupant of the vehicle via an alarm device provided in the vehicle based on the recognition result of the recognition unit; Equipped with The recognition unit A linear object extending from the left side of the vehicle toward the front is recognized as a left lane boundary that defines the left side of the lane in which the vehicle is traveling; A linear object extending from the right side of the vehicle toward the front is recognized as a right lane boundary that defines the right side of the lane in which the vehicle is traveling; The alarm control unit The warning can be issued when the vehicle approaches a linear object recognized as the left lane boundary or a linear object recognized as the right lane boundary, When one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other, the warning is suppressed when the vehicle approaches the linear object; The recognition unit The vehicle is capable of recognizing other vehicles traveling in front of the vehicle, The alarm control unit When the distance between the linear object recognized as the left lane boundary or the right lane boundary and the other vehicle is equal to or less than a threshold, the warning is suppressed when the vehicle approaches the linear object. Vehicle control device.

3. 3. The vehicle control device according to claim 1 or 2, The alarm control unit If one of the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary is connected to the other and the linear object represents a broken line, the alarm is suppressed when the vehicle approaches the linear object. Vehicle control device.

4. 3. The vehicle control device according to claim 1 or 2, The alarm control unit If the linear object recognized as the left lane boundary is connected to the linear object recognized as the right lane boundary and is not on an extension line of the linear object previously recognized as the left lane boundary, the warning is suppressed when the vehicle approaches the linear object; If the linear object recognized as the right lane boundary is connected to the linear object recognized as the left lane boundary and is not on an extension line of the linear object previously recognized as the right lane boundary, the alarm is suppressed when the vehicle approaches the linear object. Vehicle control device.

5. 3. The vehicle control device according to claim 1 or 2, The alarm control unit determining whether or not the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary have become parallel while the warning is suppressed; canceling the suppression of the warning when it is determined that the linear object recognized as the left lane boundary and the linear object recognized as the right lane boundary have become parallel; Vehicle control device.

6. 3. The vehicle control device according to claim 1 or 2, The recognition unit A merging point where the own lane and another lane merge can be recognized, The alarm control unit When the vehicle passes the junction while the warning is suppressed, the suppression of the warning is canceled. Vehicle control device.

Images