Driving support device and driving support method

Abstract

To improve accuracy of determining fluctuations.SOLUTION: A travel support device according to an embodiment includes a control unit. The control unit detects fluctuations of a self vehicle. The control unit detects fluctuations of the self vehicle based on first determination distance from a division line of a travel lane to a center of the travel lane, second determination distance from the division line of the travel lane to the center of the travel lane, and distance from the division line of the travel lane to the self vehicle. The second determination distance is longer than the first determination distance.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] BACKGROUND ART Conventionally, a driving support device is known that issues an alarm when a vehicle approaches a lane within a certain distance (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-71185 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional control devices, if an error occurs in identifying the lane, there is a risk that the control device may erroneously determine that the vehicle is staggering relative to the lane.

[0005] The present invention has been made in view of the above, and has an object to provide a driving assistance device and a driving assistance method that improve the accuracy of sway determination. [Means for solving the problem]

[0006] A driving assistance device according to one aspect of the embodiment includes a control unit. The control unit detects sway of the host vehicle. The control unit detects sway of the host vehicle based on a first determination distance from a lane marking to the center of the lane, a second determination distance from the lane marking to the center of the lane, and a distance from the lane marking to the host vehicle. The second determination distance is longer than the first determination distance. [Effects of the Invention]

[0007] According to one aspect of the embodiment, it is possible to improve the accuracy of stagger determination. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an overview of a driving support method according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of the drive recorder according to the embodiment. [Figure 3] FIG. 3 is a diagram showing an example of how the host vehicle travels. [Figure 4] Figure 4 shows an example of the monitor display when unsteady driving is detected. [Figure 5] FIG. 5 is a flowchart illustrating the region setting process according to the embodiment. [Figure 6] FIG. 6 is a flowchart illustrating the unsteady driving detection process according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, a driving assistance device and a driving assistance method according to an embodiment will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the present embodiment.

[0010] First, a driving support method according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram for explaining an overview of the driving support method according to an embodiment.

[0011] The driving assistance method is executed by an in-vehicle device (driving assistance device) provided in a vehicle. The in-vehicle device includes, for example, a drive recorder and a navigation system. Here, a drive recorder will be used as an example of the in-vehicle device, but the in-vehicle device is not limited to this. The in-vehicle device may also be a device in which the drive recorder and the navigation system are integrated.

[0012] The drive recorder 1 captures an image of the surroundings of the host vehicle C using a camera 2 (see FIG. 2). The drive recorder 1 sets a first determination area A1 and a second determination area A2 for the driving lane R on which the host vehicle C is traveling (S1). The driving lane R is an area of ​​the road on which the host vehicle C is traveling that the host vehicle C can travel in. The driving lane R is demarcated by dividing lines L. The dividing lines L include lane boundary lines, center lines, etc. Furthermore, on roads without lane boundary lines or center lines, the dividing lines L include boundary lines with curbs, boundary lines with road gutters, etc.

[0013] The lane markings L are detected by performing image processing using image data of the road captured by the drive recorder 1.

[0014] The first determination area A1 is an area that includes a section that is a first determination distance D1 away from the dividing line L toward the center of the driving lane R. In other words, the first determination area A1 is an area that has a width of the first determination distance D1 from the driving lane R toward the center of the driving lane R. In other words, the first determination area A1 is an area that has a first predetermined width from the dividing line L of the driving lane R toward the center of the driving lane R. The first determination area A1 has a first predetermined width in the width direction of the driving lane R, and is an area that is set to extend along the dividing line L of the driving lane R. The first determination distance D1, i.e., the first predetermined width, is, for example, a predetermined width, such as 30 cm.

[0015] The second determination area A2 is an area extending toward the center of the driving lane R from the first determination area A1, the area having a width equal to the difference between the second determination distance D2 and the first determination distance D1. That is, the second determination area A2 is an area having a width equal to the difference between the second determination distance D2 and the first determination distance D1. The second determination area A2 is set adjacent to the first determination area A1. In other words, the second determination area A2 is an area having a second predetermined width extending from the first determination area A1 toward the center of the driving lane R. The second determination area A2 has a second predetermined width in the width direction of the driving lane R and is set to extend along the first determination area A1. The second determination distance D2 is, for example, a predetermined distance that is longer than the first determination distance D1, and is, for example, 60 cm. The second predetermined width, which is the difference between the second determination distance D2 and the first determination distance D1, is, for example, 30 cm. The first predetermined width and the second predetermined width may be different widths.

[0016] The first judgment area A1 and the second judgment area A2 are set for the dividing line L on both sides of the driving lane R, i.e., the dividing line L on the left side of the driving lane R and the dividing line L on the right side of the driving lane R, respectively. The first judgment area A1 and the second judgment area A2 may be set for either the dividing line L on the left side of the driving lane R or the dividing line L on the right side of the driving lane R.

[0017] The drive recorder 1 detects swaying of the host vehicle C based on the first determination distance D1, the second determination distance D2, and the position of the host vehicle C. In other words, the drive recorder 1 detects swaying of the host vehicle C based on the first determination area A1, the second determination area A2, and the position of the host vehicle C. Swaying is a swaying of the host vehicle C in the width direction of the traveling lane R while the host vehicle C is traveling. Swaying can be caused by the driver's steering operation, the inclination of the traveling lane R, etc.

[0018] The drive recorder 1 detects swaying, for example, when the distance between the lane marking L and the host vehicle C changes from a state in which it is equal to or shorter than the first judgment distance D1 to a state in which it is longer than the second judgment distance D2 (S2). In other words, the drive recorder 1 detects swaying, for example, when the host vehicle C enters the first judgment area A1, then exits the first judgment area A1, and then exits the second judgment area A2. That is, the drive recorder 1 detects swaying when the host vehicle C enters the first judgment area A1 and then exits the second judgment area A2 to the center of the driving lane R.

[0019] The following description focuses on an example in which the host vehicle C enters or exits the first judgment area A1 or the second judgment area A2. For example, the host vehicle C entering the first judgment area A1 is synonymous with the distance between the host vehicle C and the lane marking L being equal to or less than the first judgment distance D1. The host vehicle C entering the second judgment area A2 is synonymous with the distance between the host vehicle C and the lane marking L being longer than the first judgment distance D1 and equal to or less than the second judgment distance D2.

[0020] For example, a drive recorder according to a comparative example may detect swaying of the vehicle when the vehicle exits the first determination area. The drive recorder according to the comparative example may erroneously detect swaying due to the influence of minute shakes (slight changes in the vehicle's behavior) near the first determination area or detection errors in the position of the vehicle (errors due to image processing).

[0021] In contrast, the drive recorder 1 can improve the accuracy of detecting the swaying of the vehicle C by detecting the swaying of the vehicle C in accordance with the vehicle C's entry into and exit from the first judgment area A1 and the second judgment area A2.

[0022] Next, the drive recorder 1 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the configuration of the drive recorder 1 according to the embodiment. Note that the description here will focus on the function for detecting swaying of the host vehicle C.

[0023] The drive recorder 1 includes a camera 2, a monitor 3, a control unit 4, and a storage unit 5.

[0024] The camera 2 includes various imaging elements and lenses such as a fisheye lens. The monitor 3 displays the setting image of the drive recorder 1, the image captured by the camera 2, a warning image, and the like.

[0025] The storage unit 5 is realized by a storage device such as a semiconductor memory element, such as a random access memory (RAM) or a flash memory. The storage unit 5 stores images captured by the camera 2. The storage unit 5 stores image data relating to vehicle accidents, image data relating to dangerous driving, image data relating to swaying, etc.

[0026] The control unit 4 includes an acquisition unit 10, an identification unit 11, a setting unit 12, a detection unit 13, and a notification unit 14. The control unit 4 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM, a hard disk drive, an input / output port, and various other circuits.

[0027] The computer's CPU functions as the acquisition unit 10, identification unit 11, setting unit 12, detection unit 13, and notification unit 14 of the control unit 4, for example, by reading and executing a program stored in a storage device such as a ROM.

[0028] Furthermore, at least some or all of the acquisition unit 10, identification unit 11, setting unit 12, detection unit 13, and notification unit 14 of the control unit 4 can be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). Furthermore, the acquisition unit 10, identification unit 11, setting unit 12, detection unit 13, and notification unit 14 may be integrated or further divided into multiple units.

[0029] The acquisition unit 10 acquires image data captured by the camera 2. The identification unit 11 identifies the driving lane R and the dividing line L of the driving lane R from the acquired image data. The identification unit 11 identifies the driving lane R and the dividing line L of the driving lane R by performing image processing on the acquired image data.

[0030] The setting unit 12 sets a first judgment area A1 and a second judgment area A2 based on the identified dividing line L of the driving lane R. The setting unit 12 sets an area that is a first predetermined width away from the dividing line L of the driving lane R toward the center of the driving lane R as the first judgment area A1. The setting unit 12 sets the first judgment area A1 for the dividing line L on both sides of the driving lane R. In other words, the setting unit 12 sets the first judgment area A1 for the dividing line L on the right side of the driving lane R and the dividing line L on the left side of the driving lane R, respectively.

[0031] The setting unit 12 sets the second judgment area A2 to an area adjacent to the first judgment area A1 and located a second predetermined width away from the first judgment area A1 toward the center of the driving lane R. The setting unit 12 sets the second judgment area A2 for the dividing line L on both sides of the driving lane R. That is, the setting unit 12 sets the second judgment area A2 for the dividing line L on the right side of the driving lane R and the dividing line L on the left side of the driving lane R, respectively.

[0032] The detection unit 13 detects swaying of the host vehicle C. The detection unit 13 detects swaying of the host vehicle C based on the first judgment area A1, the second judgment area A2, and the position of the host vehicle C. The detection unit 13 detects swaying of the host vehicle C in the driving lane R based on the acquired image data and the set first judgment area A1 and second judgment area A2.

[0033] The detection unit 13 determines whether or not the host vehicle C has entered the second judgment area A2. The detection unit 13 determines whether or not the host vehicle C has exited the second judgment area A2. The detection unit 13 determines whether or not the host vehicle C has entered the first judgment area A1. The detection unit 13 determines whether or not the host vehicle C has exited the first judgment area A1.

[0034] The detection unit 13 detects swaying of the host vehicle C when the host vehicle C enters the first judgment area A1 and then exits the second judgment area A2 toward the center of the driving lane R. That is, the detection unit 13 detects swaying of the host vehicle C when the host vehicle C enters the second judgment area A2, then enters the first judgment area A1 adjacent to the second judgment area A2, and then exits the first judgment area A1 and the second judgment area A2.

[0035] The detection unit 13 measures the elapsed time after detecting swaying. Specifically, when the detection unit 13 detects swaying, it starts counting the elapsed time after detecting swaying. If the elapsed time is longer than a predetermined time, the detection unit 13 resets the elapsed time. The predetermined time is a preset time, for example, 10 seconds.

[0036] Furthermore, the detection unit 13 counts the number of times the host vehicle C has entered the first judgment area A1. The detection unit 13 increments the number of times the host vehicle C has entered the first judgment area A1. The detection unit 13 determines the number of times the host vehicle C has entered the first judgment area A1. The detection unit 13 determines whether the number of times the host vehicle C has entered is "0".

[0037] When the number of entries is "0", the detection unit 13 increments the number of entries to "1" when the vehicle C enters the first judgment area A1, exits the first judgment area A1, and then exits the second judgment area A2.

[0038] If the entry count is not "0", the detection unit 13 increments the entry count when the host vehicle C enters the first determination area A1.

[0039] The detection unit 13 determines whether the number of entries is equal to or greater than a predetermined number. The predetermined number is a preset number, for example, 2. Note that the detection unit 13 resets the number of entries when the elapsed time becomes longer than the predetermined time.

[0040] The detection unit 13 detects swaying of the host vehicle C when the number of entries is equal to or greater than a predetermined number. In other words, the detection unit 13 determines that the host vehicle C is swaying when the number of entries is equal to or greater than a predetermined number. Specifically, the detection unit 13 detects swaying of the host vehicle C when the elapsed time is equal to or less than a predetermined time and the number of entries is equal to or greater than a predetermined number. Note that when the predetermined number is "1", swaying is detected and swaying is detected.

[0041] For example, as shown in Fig. 3, assume that the host vehicle C moves from the center of the driving lane R to the right side. Fig. 3 is a diagram showing an example of the driving of the host vehicle C. Note that the number of times the host vehicle C has entered the first determination area A1 is "0".

[0042] Thereafter, the host vehicle C enters the second judgment area A2 on the right side, and then enters the first judgment area A1. Because the host vehicle C has entered the first judgment area A1, the detection unit 13 increments the number of times the host vehicle C has entered the first judgment area A1 to "1."

[0043] Thereafter, the host vehicle C moves closer to the center of the driving lane R, and the host vehicle C exits the first determination area A1 and then the second determination area A2. As the host vehicle C moves in this manner, the detection unit 13 detects the swaying of the host vehicle C and starts counting the elapsed time.

[0044] Thereafter, the host vehicle C moves from the center of the driving lane R to the left side, enters the second judgment area A2 on the left side, and then enters the first judgment area A1 on the left side after a predetermined time has elapsed. Because the host vehicle C has entered the first judgment area A1, the detection unit 13 increments the number of times the host vehicle C has entered the first judgment area A1 to "2." If the predetermined number is "2," the detection unit 13 detects that the host vehicle C is swaying and confirms the detection of swaying.

[0045] Note that if the time that has elapsed since the host vehicle C exited the second judgment area A2 on the right side becomes longer than a predetermined time, the elapsed time and the number of entries are reset. Therefore, for example, in FIG. 3, if the host vehicle C travels from the center of the driving lane R to the left side and enters the first judgment area A1 on the left side after a predetermined time has elapsed, the detection unit 13 sets the number of entries into the first judgment area A1 to "1." If the host vehicle C then exits the second judgment area A2 on the left side toward the center of the driving lane R, the detection unit 13 starts counting the elapsed time anew.

[0046] 3 shows an example in which the host vehicle C enters the first judgment area A1 on the right side and then enters the first judgment area A1 on the left side, but this is not limiting. The detection unit 13 also detects swaying when the host vehicle C enters the first judgment area A1 in the same direction. For example, if the host vehicle C enters the first judgment area A1 on the right side and swaying is detected, and then the host vehicle C again enters the first judgment area A1 on the right side after a predetermined time has elapsed and the predetermined number of times is "1," the detection unit 13 detects swaying.

[0047] When the detection unit 13 detects swaying, the notification unit 14 notifies the swaying of the host vehicle C. For example, as shown in FIG. 4, the notification unit 14 notifies the swaying of the host vehicle C by displaying the detection of swaying on the monitor 3. FIG. 4 is an example of the display on the monitor 3 when swaying is detected. The notification unit 14 may also display the detection of swaying on a monitor of a navigation system or the like. The notification unit 14 may also notify the swaying of the host vehicle C by voice. Image data related to the swaying of the host vehicle C is stored in the memory unit 5. The data related to the swaying includes image data from when the host vehicle C enters the second determination area A2 until swaying is detected.

[0048] Next, the region setting process according to the embodiment will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating the region setting process according to the embodiment.

[0049] The drive recorder 1 acquires image data of the surroundings of the vehicle C (S100).

[0050] The drive recorder 1 sets a first determination area A1 and a second determination area A2 from the acquired image data (S101).

[0051] Next, the staggered driving detection process according to the embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart illustrating the staggered driving detection process according to the embodiment. Note that image data is acquired at a predetermined cycle.

[0052] The drive recorder 1 determines whether the host vehicle C has entered the first determination area A1 (S200). If the host vehicle C has not entered the first determination area A1 (S200: No), the drive recorder 1 ends this processing.

[0053] When the host vehicle C has entered the first determination area A1 (S200: Yes), the drive recorder 1 determines whether the number of times the host vehicle C has entered the first determination area A1 is "0" (S201).

[0054] If the number of times the vehicle C has entered the first determination area A1 is "0" (S201: Yes), the drive recorder 1 determines whether the vehicle C has exited the second determination area A2 (S202).

[0055] If the host vehicle C has not exited the second determination area A2 (S201: No), the drive recorder 1 repeats the determination in step S202 until the host vehicle C exits the second determination area A2.

[0056] When the host vehicle C exits the second determination area A2 (S202: Yes), the drive recorder 1 detects swaying of the host vehicle C (S203) and increments the number of times the host vehicle C has entered the first determination area A1 (S204). Specifically, the drive recorder 1 sets the number of times the host vehicle C has entered to "1." The drive recorder 1 starts counting the elapsed time (S205). Note that the detection of swaying of the host vehicle C, the incrementing of the number of times the host vehicle C has entered, and the start of counting the elapsed time are not limited to the above processing order. For example, the detection of swaying of the host vehicle C may be performed after the incrementing of the number of times the host vehicle C has entered and the start of counting the elapsed time.

[0057] If the number of times the vehicle has entered the first determination area A1 is not "0" (S201: No), the drive recorder 1 increments the number of times the vehicle has entered the first determination area A1 (S206).

[0058] The drive recorder 1 determines whether the number of times the vehicle has entered the first determination area A1 is equal to or greater than a predetermined number (S207). If the number of times the vehicle has entered the first determination area A1 is equal to or greater than the predetermined number (S207: Yes), the drive recorder 1 detects swaying (S208) and determines that the vehicle C is swaying. Then, the drive recorder 1 notifies the driver of swaying (S209).

[0059] If the number of times the vehicle has entered the first determination area A1 is less than the predetermined number of times (S207: No), the drive recorder 1 ends the current process.

[0060] The elapsed time and the number of entries are reset when the elapsed time becomes longer than a predetermined time. The number of entries may be incremented after the host vehicle C enters the first determination area A1 in step S200. In this case, in step S201, it is determined whether the number of entries is "1."

[0061] The drive recorder 1 includes a control unit 4. The control unit 4 detects swaying of the host vehicle C based on a first determination distance D1 from the dividing line L of the driving lane R to the center of the driving lane R, a second determination distance D2 from the dividing line L of the driving lane R to the center of the driving lane R, and the distance from the dividing line L of the driving lane R to the host vehicle C. The second determination distance D2 is longer than the first determination distance D1.

[0062] For example, the drive recorder 1 sets a first judgment area A1 and a second judgment area A2, and detects swaying based on the entry or exit of the host vehicle C into the first judgment area A1 and the entry or exit of the host vehicle C into the second judgment area A2.

[0063] This allows the drive recorder 1 to detect swaying of the host vehicle C based on the first judgment distance D1 and the second judgment distance D2, thereby improving the accuracy of detecting swaying of the host vehicle C. For example, the drive recorder 1 can suppress erroneous detection of swaying of the host vehicle C when the host vehicle C travels while experiencing slight shaking around the first judgment distance D1 or due to a detection error in the position of the host vehicle C.

[0064] The control unit 4 detects swaying when the distance between the lane marking L of the driving lane R and the vehicle C changes from a state in which the distance is equal to or shorter than the first determination distance D1 to a state in which the distance is longer than the second determination distance D2.

[0065] This allows the drive recorder 1 to accurately detect sway caused by movement of the host vehicle C in the width direction.

[0066] The control unit 4 determines that the vehicle C is swaying when the number of times that the distance to the vehicle C becomes equal to or shorter than the first determination distance D1 within a predetermined time after swaying is detected is equal to or greater than a predetermined number.

[0067] As a result, the drive recorder 1 can improve the accuracy of detecting sway of the vehicle C by determining sway based on entry into the first judgment area A1 within a predetermined time after sway is detected.

[0068] The control unit 4 sets a first determination area A1 and a second determination area A2 for the left-side marking L of the driving lane R and the right-side marking L of the driving lane R, respectively.

[0069] As a result, the drive recorder 1 can accurately detect the swaying of the vehicle C even when the vehicle C is traveling on the left or right side.

[0070] In the drive recorder 1 according to the modified example, the setting unit 12 sets at least one of the predetermined time period and the predetermined number of times based on the driving conditions. The driving conditions include at least one of the vehicle speed, the width of the driving lane R, and the size of the host vehicle C. The driving conditions may be a combination of the vehicle speed, the width of the driving lane R, and the host vehicle C. The predetermined time period and the predetermined number of times may be set by the driver or the like.

[0071] For example, if the driving condition is vehicle speed, the predetermined time period becomes shorter as the vehicle speed increases. For example, if the vehicle speed is equal to or greater than a predetermined vehicle speed (e.g., 80 km), the predetermined time period becomes shorter than if the vehicle speed is less than the predetermined vehicle speed. Multiple predetermined vehicle speeds may be set according to the vehicle speed.

[0072] Furthermore, for example, when the driving condition is vehicle speed, the predetermined number of times decreases as the vehicle speed increases. For example, when the vehicle speed is equal to or greater than a predetermined vehicle speed (e.g., 80 km), the predetermined number of times is smaller than when the vehicle speed is less than the predetermined vehicle speed. Multiple predetermined numbers may be set according to the vehicle speed.

[0073] This allows the drive recorder 1 according to the modified example to set a predetermined time and a predetermined number of times that are suitable for the driving conditions. For example, when the vehicle C is traveling at high speed, the drive recorder 1 according to the modified example can detect swaying of the vehicle C early and alert the driver.

[0074] In the drive recorder 1 according to the modified example, the setting unit 12 sets at least one of the first determination area A1 and the second determination area A2 based on the driving conditions. That is, the setting unit 12 sets at least one of the first determination distance D1 and the second determination distance D2 based on the driving conditions.

[0075] For example, when the driving condition is the width of the driving lane R, at least one of the first determination area A1 and the second determination area A2 is set according to the width of the driving lane R. For example, when the driving condition is the width of the driving lane R, at least one of the first predetermined width of the first determination area A1 and the second predetermined width of the second determination area A2 is changed when the width of the driving lane R becomes shorter.

[0076] For example, when the width of the driving lane R is shorter than a predetermined lane width, at least one of the first determination area A1 and the second determination area A2 is narrower than when the width of the driving lane R is equal to or greater than the predetermined lane width. Note that the first determination area A1 may be narrowed and the second determination area A2 may be widened.

[0077] As a result, the drive recorder 1 according to the modified example can suppress determination that the host vehicle C is always entering the first determination area A1 or the second determination area A2 when the width of the driving lane R is narrow.

[0078] Furthermore, for example, when the driving condition is the size of the host vehicle C, at least one of the first judgment area A1 and the second judgment area A2 is set according to the size of the host vehicle C. For example, when the width of the host vehicle C is equal to or greater than a predetermined vehicle width, at least one of the first judgment area A1 and the second judgment area A2 is wider than when the width of the host vehicle C is less than the predetermined vehicle width.

[0079] As a result, the drive recorder 1 according to the modified example can suppress erroneous determination of sway in the host vehicle C where the vehicle vibration becomes large, and can improve the accuracy of sway detection.

[0080] In this way, the drive recorder 1 according to the modified example can improve the accuracy of detecting swaying of the host vehicle C by setting the first determination area A1 and the second determination area A2 based on the driving conditions.

[0081] In the drive recorder 1 according to the modified example, the setting unit 12 sets at least one of the first determination area A1 and the second determination area A2 based on the image recognition accuracy. That is, the setting unit 12 sets at least one of the first determination distance D1 and the second determination distance D2 based on the image recognition accuracy. The image recognition accuracy includes, for example, the resolution of the camera 2, a distance detection error, and a detection error of the vehicle behavior (for example, a detection error of the steering operation). For example, the drive recorder 1 according to the modified example narrows the first determination area A1 and the second determination area A2 when the resolution of the camera 2 is low.

[0082] As a result, the drive recorder 1 according to the modified example can set the first determination area A1 and the second determination area A2 that are suitable for image recognition accuracy, and can improve the accuracy of detecting swaying of the host vehicle C.

[0083] Furthermore, in the drive recorder 1 according to the modified example, the setting unit 12 sets at least one of the first judgment area A1 and the second judgment area A2 based on a sway judgment width. The sway judgment width is the amount of shaking that occurs in the width direction (the left-right direction of the host vehicle C) when the host vehicle C travels with the steering wheel fixed in a certain position. For example, even when the steering wheel position is fixed so that the host vehicle C travels straight, the host vehicle C travels straight while shaking in the width direction due to the influence of road surface irregularities, etc. Therefore, for example, if the second judgment area A2 is narrowed, when the host vehicle C travels along the vicinity of the second judgment area A2, it may be determined that the host vehicle C is repeatedly entering and exiting the second judgment area A2.

[0084] Therefore, in a modified example, the setting unit 12 of the drive recorder 1 sets at least one of the first determination area A1 and the second determination area A2 based on the sway determination width. Specifically, at least one of the first determination area A1 and the second determination area A2 is set to be wider than the sway determination width. Note that the sway determination width may be set in advance or may be set based on the amount of shaking occurring in the width direction while the vehicle C is traveling with the steering position fixed.

[0085] As a result, the drive recorder 1 according to the modified example can suppress erroneous determination of swaying and improve the accuracy of swaying detection.

[0086] In the drive recorder 1 according to the modified example, the setting unit 12 may set the first predetermined width of the first determination region A1 on the left side of the driving lane R to different values ​​from the first predetermined width of the first determination region A1 on the right side of the driving lane R. That is, the setting unit 12 may set the first determination distance D1 from the lane marking L on the left side of the driving lane R to different distances from the first determination distance D1 from the lane marking L on the right side of the driving lane R. The setting unit 12 may also set the second predetermined width of the second determination region A2 on the left side of the driving lane R to different values ​​from the second predetermined width of the second determination region A2 on the right side of the driving lane R. That is, the setting unit 12 may set the second determination distance D2 from the lane marking L on the left side of the driving lane R to different distances from the second determination distance D2 from the lane marking L on the right side of the driving lane R.

[0087] For example, the first predetermined width of the left first determination area A1 and the second predetermined width of the left second determination area A2 are set so that motorbikes and bicycles can pass through. Also, for example, the first predetermined width of the right first determination area A1 and the second predetermined width of the right second determination area A2 are set so that contact with oncoming vehicles can be avoided.

[0088] As a result, the drive recorder 1 according to the modified example can prevent contact with a motorcycle passing beside the vehicle C or an oncoming vehicle, thereby improving safety.

[0089] The drive recorder 1 may detect swaying of the vehicle C based on the first judgment distance D1, the second judgment distance D2, and the distance from the lane marking L to the vehicle C, without setting the first judgment area A1 and the second judgment area A2. The drive recorder 1 detects the distance from the lane marking L to the vehicle C, and compares the detected distance with the first judgment distance D1 and the second judgment distance D2 to detect swaying.

[0090] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0091] 1. Drive recorder (driving assistance device) 2 Cameras 3 monitors 4. Control Unit 10 Acquisition Department 12 Setting section 13 Detection unit 14. Information Department A1 1st judgment area A2 Second judgment area C. Vehicle L lot line R driving lane

Claims

1. A control unit is provided to detect swaying of a vehicle traveling inside a lane marking, The control unit comparing the measured distance from the lane marking to the vehicle with a first determination distance that is located inside the lane marking and a second determination distance that is located further inside the lane marking; A driving assistance device that determines that the vehicle is swaying if the measured distance becomes less than the first judgment distance, then becomes greater than or equal to the second judgment distance, and then becomes less than or equal to the first judgment distance again within a predetermined time.

2. The driving assistance device according to claim 1 , wherein the control unit sets the predetermined time based on driving conditions.

3. The driving assistance device according to claim 1 , wherein the control unit sets at least one of the first determination distance and the second determination distance based on driving conditions.

4. 4. The driving assistance device according to claim 1, wherein the control unit sets at least one of the first determination distance and the second determination distance based on image recognition accuracy.

5. The dividing line comprises a left dividing line and a right dividing line of the vehicle; 5. The driving assistance device according to claim 1, wherein the control unit detects swaying of the host vehicle relative to the left-side lane marking and the right-side lane marking.

6. The driving assistance device according to claim 5 , wherein the control unit is capable of setting the first determination distance from the left-hand lane marking and the first determination distance from the right-hand lane marking to different distances.

7. The driving assistance device according to claim 5 or 6, wherein the control unit is capable of setting the second determination distance from the left-hand lane marking and the second determination distance from the right-hand lane marking to different distances.

8. The control unit a first determination area having a width equal to the first determination distance and a second determination area having a width equal to the difference between the second determination distance and the first determination distance; 8. The driving assistance device according to claim 1, wherein the swaying is detected based on the entry or exit of the host vehicle into the first judgment area and the entry or exit of the host vehicle into the second judgment area.

9. A driving assistance method performed by a driving assistance device, comparing the measured distance from the lane marking to the vehicle with a first determination distance inside the lane marking and a second determination distance further inside the lane marking; A driving assistance method in which, if the measured distance becomes less than the first judgment distance, then becomes greater than or equal to the second judgment distance, and then becomes less than or equal to the first judgment distance again within a predetermined time, it is determined that the vehicle is swaying.

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