Deviation prevention control device, control method, and computer program

Abstract

To provide a technology capable of appropriately performing and stopping suppression of a lane deviation prevention function.SOLUTION: A deviation prevention control device 10 includes: an object position information acquisition unit 11 that acquires position-related information regarding a position of a detected object from a recognition device 50; a steering information acquisition unit 12 that acquires steering information from a steering control unit 63; and a suppression executing unit 13 that uses the position-related information and the steering information to determine whether or not the steering is to avoid objects and execute suppression according to the determination result.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to control of a lane departure prevention function. [Background technology]

[0002] Conventionally, a lane departure prevention function has been used to prevent a vehicle from departing from its lane while traveling. For example, when the vehicle comes too close to a dividing line such as a white line that defines a lane, or when the vehicle comes too close to a roadside structure such as a guardrail, a pylon, or a utility pole, a lane departure prevention function is used to output an alarm or perform automatic steering control to avoid departure. A function to suppress such a lane departure prevention function has also been proposed. For example, Patent Document 1 discloses a technology that identifies the driver's level of alertness and suppresses the lane departure prevention function in accordance with the level of alertness. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-116693 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the past, the function to suppress the lane departure prevention function did not work properly. For example, when passing an oncoming vehicle on a narrow road and attempting to steer very close to a dividing line, guardrail, utility pole, etc. to avoid the oncoming vehicle, the lane departure prevention function would be activated, causing an annoyance. Even with the technology of Patent Document 1, if the driver happens to not be facing forward to check the side mirrors or surroundings while steering, the driver's level of alertness may be determined to be low, and the function to suppress the lane departure prevention function may not be executed, resulting in the above-mentioned problem. This problem is not limited to when passing an oncoming vehicle, but is common when steering to avoid any object. Therefore, a technology that can appropriately activate and deactivate the suppression of the lane departure prevention function is desired. [Means for solving the problem]

[0005] One aspect of the present disclosure provides a lane departure prevention control device (10) that controls a lane departure prevention function for preventing a vehicle (100) from departing from its lane. This lane departure prevention control device includes an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object present around the vehicle, a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls steering of the vehicle, and a suppression execution unit (13) that uses the position-related information and the steering information to determine whether steering is for avoiding the object and executes suppression of at least a part of the lane departure prevention function depending on the determination result.

[0006] According to this type of lane departure prevention control device, it is determined whether steering is being done to avoid an object, and at least part of the lane departure prevention function is suppressed depending on the result of that determination.Therefore, for example, when passing an oncoming vehicle on a narrow road and attempting to steer very close to a dividing line, guardrail, utility pole, etc. to avoid the oncoming vehicle, the lane departure prevention function can be prevented from being executed, thereby reducing annoyance for the driver, and the suppression of the lane departure prevention function can be appropriately executed and stopped. As other aspects of the present disclosure, the following aspects 1 to 4 may be provided. [Feature 1] A lane departure prevention control device (10, 10a to 10g) for controlling a lane departure prevention function for preventing a vehicle (100) from departing from its lane includes: an object position information acquisition unit (11) for acquiring position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object existing around the vehicle; a steering information acquisition unit (12) for acquiring steering information from a steering control unit (63) that controls steering of the vehicle; and a suppression execution unit (13) for determining whether or not steering is for avoiding the object by using the position-related information and the steering information, and for executing suppression of at least a part of the lane departure prevention function according to the determination result, wherein the suppression execution unit, when the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, and determining that the steering is for avoiding the object and suppressing at least a part of the lane departure prevention function (S120), and if the direction and amount of the steering indicated by the steering information are outside the avoidance range, determining that the steering is not for avoiding the object and stopping at least a part of the suppression of the lane departure prevention function (S125), the amount of steering in the avoidance range is set in advance as a range larger than the amount of steering that occurs when the vehicle is traveling straight, and the departure prevention control device further comprises: a straight traveling determination unit (14) that acquires information from a sensor (40) mounted on the vehicle and uses the acquired information to determine whether the vehicle is traveling straight, and a steering amount setting unit (15) that learns the amount of steering during a period when it is determined that the vehicle is traveling straight and sets the amount of steering in the avoidance range. [Feature 2] A lane departure prevention control device (10, 10a to 10g) for controlling a lane departure prevention function for preventing a vehicle (100) from leaving its lane includes: an object position information acquisition unit (11) for acquiring position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object existing around the vehicle; a steering information acquisition unit (12) for acquiring steering information from a steering control unit (63) that controls steering of the vehicle; and a suppression execution unit (13) for determining whether steering is for avoiding the object by using the position-related information and the steering information, and executing suppression of at least a part of the lane departure prevention function according to the determination result, and further includes an acceleration acquisition unit (16) for acquiring information relating to the acceleration of the vehicle; and an overtaking completion determination unit (17) for determining whether overtaking of the object by the vehicle has been completed, and the suppression execution unit determines whether the steering direction and amount indicated by the steering information are correct. , which is set as the range of the steering direction and amount for the vehicle to avoid the object. a lane departure prevention control device that, when the acceleration increases after the object falls within an avoidance range, continues to suppress at least a portion of the lane departure prevention function until the overtaking completion determination unit determines that the overtaking is complete, and when it is determined that the overtaking is complete, stops suppressing at least a portion of the lane departure prevention function, and the overtaking completion determination unit determines whether the overtaking is complete based on at least one of the position of the object indicated by the position-related information, a determination result of whether a lane boundary line that was hidden by the object has become exposed based on a detection result of a sensor mounted on the vehicle, and a determination result of whether the widthwise position of the vehicle within a driving lane in which the vehicle is traveling has returned to a position before the steering direction and amount indicated by the steering information deviated from the avoidance range. [Feature 3] A lane departure prevention control device (10, 10a to 10g) for controlling a lane departure prevention function for preventing a vehicle (100) from departing from a lane includes: an object position information acquisition unit (11) for acquiring position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object existing around the vehicle; a steering information acquisition unit (12) for acquiring steering information from a steering control unit (63) that controls steering of the vehicle; and a suppression execution unit (13) for determining whether or not steering is for avoiding the object by using the position-related information and the steering information, and executing suppression of at least a part of the lane departure prevention function according to the determination result, and further includes an acceleration acquisition unit (16) for acquiring information relating to the acceleration of the vehicle; and an overtaking completion determination unit (17) for determining whether or not overtaking of the object by the vehicle has been completed, and the suppression execution unit determines whether or not the steering direction and amount indicated by the steering information have been completed. , which is set as the range of the steering direction and amount for the vehicle to avoid the object. and an offset driving information acquisition unit (18) that acquires, from a following function control unit that controls a preceding vehicle following function mounted on the vehicle, offset driving execution information that is information regarding whether or not offset driving is being performed, in which the vehicle's widthwise position within a driving lane is offset in order to overtake a vehicle traveling alongside it in an adjacent lane, and the overtaking completion determination unit determines, based on the acquired offset driving execution information, that the overtaking has been completed and then stopped (S405a). [Feature 4] A departure prevention control device (10, 10a to 10g) that controls a lane departure prevention function to prevent a vehicle (100) from leaving its lane, comprising: an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects objects present around the vehicle; a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls the steering of the vehicle; and a suppression execution unit (13) that uses the position-related information and the steering information to determine whether the steering is for avoiding the object and executes suppression of at least a part of the lane departure prevention function depending on the determination result, and further comprises an area determination unit (19) that determines whether the vehicle is traveling in a no-overtaking area based on the detection result of a sensor mounted on the vehicle, and when it is determined by the area determination unit that the vehicle is traveling in the no-overtaking area, the suppression execution unit stops suppression of at least a part of the lane departure prevention function even if the steering is for avoiding the object. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to an embodiment of the present disclosure; [Figure 2] 4 is a flowchart showing the procedure of lane departure prevention control processing in the first embodiment. [Figure 3] 4 is a flowchart showing the procedure of a steering determination process in the first embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing an example of the operation of the vehicle when lane departure prevention control processing is executed. [Figure 5] 4 is a timing chart showing an example of changes in various flags when lane departure prevention control processing is executed. [Figure 6] FIG. 10 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a second embodiment. [Figure 7] 10 is a flowchart showing the procedure of a steering amount setting process in a second embodiment. [Figure 8]FIG. 10 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a third embodiment. [Figure 9] 10 is a flowchart showing the procedure of lane departure prevention control processing in the third embodiment. [Figure 10] 11 is a flowchart showing the procedure of an overtaking completion determination process in the third embodiment. [Figure 11] FIG. 10 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a fourth embodiment. [Figure 12] 10 is a flowchart showing the procedure of an overtaking completion determination process in the fourth embodiment. [Figure 13] FIG. 10 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a fifth embodiment. [Figure 14] 13 is a flowchart showing the procedure of lane departure prevention control processing in the fifth embodiment. [Figure 15] FIG. 10 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a sixth embodiment. [Figure 16] 13 is a flowchart showing the procedure of lane departure prevention control processing in the sixth embodiment. [Figure 17] 13 is a flowchart showing the procedure of an awakening determination process in the sixth embodiment. [Figure 18] FIG. 13 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to a seventh embodiment. [Figure 19] 13 is a flowchart showing the procedure of lane departure prevention control processing in the seventh embodiment. [Figure 20] FIG. 13 is a block diagram showing the functional configuration of a vehicle equipped with a departure prevention control device according to an eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: A1.Device configuration: The deviation prevention control device 10 shown in FIG. 1 is mounted on and used in a vehicle 100. In this embodiment, the "vehicle 100" may also be referred to as the "host vehicle 100." The deviation prevention control device 10 controls a lane deviation prevention function (a deviation prevention function unit 30, described below) for preventing the vehicle 100 from deviating from its lane. The lane deviation prevention function includes a function for notifying the driver of situations in which the vehicle 100 may deviate from its lane or road or may collide with a roadside structure while the vehicle 100 is traveling, and a function for automatically steering or braking to prevent deviation. Note that "lane deviation" refers to, for example, a situation in which at least a portion of the vehicle 100 crosses a dividing line, such as a white line, that forms a lane. Furthermore, "roadside structures" include, for example, guardrails, pylons, curbs, utility poles, etc. In this embodiment, the function of notifying the driver of the possibility of lane departure includes a function of vibrating the steering wheel, a function of outputting an alarm sound from a speaker mounted on the vehicle 100, and a function of displaying characters and figures indicating an alarm on a display device mounted on the vehicle 100, such as a liquid crystal display built into the instrument panel and integrated with a navigation device. The display device may be configured as a head-up display (HUD). Details of the departure prevention control device 10 will be described later.

[0009] The vehicle 100 implements a driving assistance function that assists the driver in driving. The "driving assistance function" includes the lane departure prevention function described above as well as a leading vehicle following function. The "leading vehicle following function" is a function that follows a vehicle traveling in front of the vehicle 100 while maintaining a predetermined distance. In addition to the departure prevention control device 10, the vehicle 100 is equipped with a departure prevention function unit 30, a sensor 40, a recognition device 50, a following control unit 61, an engine control unit 62, a steering control unit 63, a braking control unit 64, a notification control unit 65, an actuator control unit 66, and a user interface unit (UI unit) 67.

[0010] The deviation prevention function unit 30 controls the function units for realizing the lane deviation prevention function described above. Specifically, it controls the engine control unit 62, the steering control unit 63, the braking control unit 64, the notification control unit 65, and the actuator control unit 66 to execute the lane deviation prevention function.

[0011] The sensor 40 is composed of multiple sensors. Specifically, the sensor 40 includes a distance measuring device 42, an imaging device 43, and an acceleration sensor 44. The distance measuring device 42 measures the distance from the vehicle 100 to an object present around the vehicle 100. The distance measuring device 42 may be, for example, a millimeter-wave radar device or a LiDAR device that measures distance by irradiating electromagnetic waves of a predetermined frequency around the vehicle 100 and receiving the reflected waves. The imaging device 43 captures an image of the area around the vehicle 100. The acceleration sensor 44 detects the acceleration of the vehicle 100. The detection result by the sensor 40 is transmitted to the recognition device 50 and also to the deviation prevention control device 10.

[0012] The recognition device 50 uses the detection results received from the sensor 40 to detect objects present around the vehicle 100. Specifically, it detects the distance to the object relative to the vehicle 100, the direction of the object, and the size and type of the object. The detection results by the recognition device 50 are transmitted to the vehicle 100.

[0013] The following control unit 61 realizes a function of following a preceding vehicle. Specifically, the following control unit 61 controls the engine control unit 62, the steering control unit 63, and the braking control unit 64 based on the relative position, direction, and relative speed of the preceding vehicle detected by the recognition device 50, so that the vehicle 100 follows the preceding vehicle at a predetermined distance.

[0014] The engine control unit 62 controls the operation of the engine mounted on the vehicle 100. The steering control unit 63 controls the power steering motor. The steering control unit 63 also acquires detection results from a steering angle sensor (not shown) that detects the steering direction and steering torque. The braking control unit 64 controls devices related to brake control, such as sensors, motors, valves, and pumps.

[0015] The notification control unit 65 controls various notifications to the driver. Specifically, the notification control unit 65 notifies the driver by displaying information such as the above-mentioned alarm on the display unit. The notification control unit 65 also outputs information such as an alarm sound via a speaker (not shown). The actuator control unit 66 controls the operation of a vibration device including a motor, which is an actuator for vibrating the steering wheel. The UI unit 67 accepts various inputs from occupants of the vehicle 100, such as the driver. Specifically, the UI unit 67 accepts inputs from the touch panel of the display unit and various buttons provided on the instrument panel, etc. In this embodiment, the various control units 61 to 66 and the UI unit 67 are configured by an ECU (Electronic Control Unit) including a CPU, memory, etc.

[0016] The deviation prevention control device 10 is configured with an ECU equipped with a CPU, memory, etc. The CPU equipped in the deviation prevention control device 10 functions as an object position information acquisition unit 11, a steering information acquisition unit 12, and a suppression execution unit 13 by executing a control program pre-stored in the memory.

[0017] The object position information acquisition unit 11 acquires information (hereinafter referred to as "position related information") relating to the position of a detected object from the recognition device 50. The position related information includes the distance to the object relative to the vehicle 100, the direction of the object, and the relative speed of the object.

[0018] The steering information acquisition unit 12 acquires information indicating the direction and amount of steering (hereinafter referred to as "steering information") from the steering control unit 63. The "steering direction" indicates the right or left side in the direction of travel. In this embodiment, the "amount of steering" means the steering torque.

[0019] The suppression execution unit 13 determines whether the steering of the vehicle 100 is for avoiding an object, and suppresses the lane departure prevention function according to the determination result. In this embodiment, the suppression execution unit 13 suppresses all functions included in the lane departure prevention function. In this embodiment, "suppressing the lane departure prevention function" means stopping the lane departure prevention function (not functioning at all). Details of the method for determining whether the steering is for avoiding an object and the method for suppressing the lane departure prevention function will be described later.

[0020] The deviation prevention control device 10 having the above configuration executes a lane deviation prevention control process, which will be described later, to appropriately execute and stop suppression of the lane deviation prevention function.

[0021] A2. Lane Departure Prevention Control Processing: The lane departure prevention process shown in Fig. 2 is executed when the power to the departure prevention controller 10 is turned on. In the initial state when the power to the departure prevention controller 10 is turned on, the lane departure prevention function is executed without being suppressed. In other words, this is a state in which the departure prevention function unit 30 can realize the function of notifying the driver of the possibility of lane departure and the function of automatically performing steering and braking to prevent departure.

[0022] The object position information acquisition unit 11 acquires position-related information from the recognition device 50 (step S100). The object position information acquisition unit 11 uses the position-related information acquired in step S100 to determine whether an object exists within a predetermined range around the vehicle 100 (step S105). In this embodiment, the aforementioned "predetermined range" is a range ahead of the vehicle 100 in the traveling direction and within a predetermined distance from the vehicle 100. In this embodiment, the "predetermined distance" is 30 m. However, it is not limited to 30 m, and may be any distance that requires subsequent avoidance. Alternatively, the distance may be a distance according to the speed of the vehicle 100, i.e., the higher the vehicle speed, the longer the distance.

[0023] If it is determined that no object exists within the predetermined range (step S105: NO), the process returns to step S100. On the other hand, if it is determined that an object exists within the predetermined range (step S105: YES), the steering information acquisition unit 12 acquires steering information from the steering control unit 63 (step S110).

[0024] The suppression execution unit 13 uses the position information acquired in step S100 and the steering information acquired in step S110 to determine whether the steering direction and steering amount fall within a range for avoiding an object (hereinafter referred to as an "avoidance range") (step S115). In this embodiment, a range of steering direction and steering amount is set as the avoidance range. In this embodiment, the "steering amount range" is set to "above threshold torque" as the "steering torque range." In the determination of step S115, the steering determination process shown in FIG. 3 is executed.

[0025] As shown in FIG. 3, the suppression execution unit 13 determines whether the steering direction is a direction away from the object (step S205). The "steering direction" in the avoidance range described above means a direction away from the object. For example, if an oncoming vehicle is detected as the object, in Japan, the oncoming vehicle is located on the right side of the vehicle 100 as viewed in the direction of travel. Therefore, the "direction away from the object" corresponds to "left." Furthermore, for example, if a pedestrian is detected ahead and to the left of the vehicle 100, the "direction away from the object" corresponds to "right."

[0026] If it is determined that the steering direction is a direction away from the object (step S205: YES), the suppression execution unit 13 determines whether the steering torque is equal to or greater than a threshold torque (step S210). In this embodiment, the "threshold torque" is determined in advance. Normally, a steering operation for avoidance may generate a steering torque greater than the steering torque generated when the vehicle 100 is traveling straight. Therefore, in this embodiment, a range of such steering torque is identified in advance by experiment or the like, and the minimum value of this range is set as the threshold torque.

[0027] If it is determined in the above-mentioned step S210 that the steering torque is equal to or greater than the threshold torque (step S210: YES), the suppression execution unit 13 determines that the steering direction and amount fall within the avoidance range (step S215). On the other hand, if it is determined in the above-mentioned step S205 that the steering torque is not in a direction away from the object (step S205: NO), or if it is determined in the above-mentioned step S210 that the steering torque is not equal to or greater than the threshold torque (step S210: NO), the suppression execution unit 13 determines that the steering direction and amount do not fall within the avoidance range (step S220).

[0028] In the above-mentioned step S115, if it is determined that the steering direction and steering amount fall within the avoidance range for avoiding the object (step S115: YES), as shown in FIG. 2, the suppression execution unit 13 determines that the steering of the vehicle 100 is steering for avoiding the object, and executes suppression of the lane departure prevention function (step S120). Generally, when the vehicle 100 is being steered to avoid an object, there is a high possibility that the driver is awake. If the lane departure prevention function is activated in such a situation, there is a risk that the vehicle 100 will perform an action different from the driver's intention to avoid an accident. Therefore, in the departure prevention control device 10 of this embodiment, the lane departure prevention function is suppressed in such a case. After step S115, the object position information acquisition unit 11 determines whether or not there are no objects around the vehicle 100, based on the position information acquired from the recognition device 50 (step S130). If it is determined that there are no objects around the vehicle 100 (step S130: NO), the process returns to step S120 described above. Therefore, the lane departure prevention function continues to be suppressed.

[0029] If it is determined in step S115 that the steering direction and steering amount do not fall within the avoidance range for avoiding an object (step S115: NO), the suppression execution unit 13 determines that the steering of the vehicle 100 is not steering for avoiding an object, and stops suppression of the lane departure prevention function (step S125). Since the lane departure prevention function is active in the initial state, this state continues as long as the initial state continues. That is, no particular processing is performed in step S125. On the other hand, if it is determined in step S130 that there are no more objects around the vehicle 100 (step S130: YES), step S125 is executed. In this case, execution of step S125 changes the state in which suppression of the lane departure prevention function is being executed to a state in which suppression is stopped. After step S125 is completed, the processing returns to step S100.

[0030] The example in FIG. 4 shows the host vehicle 100 when time t is times T1, T2, and T3, and the oncoming vehicle 200 when time t is times T2 and T3. The host vehicle 100 and the oncoming vehicle 200 are traveling on a relatively narrow road Rd1 and are about to pass each other. At time T1, the host vehicle 100 detects the oncoming vehicle 200 as a surrounding object. At this time, the driver steers the vehicle left to avoid the oncoming vehicle 200 in order to pass the oncoming vehicle 200. Because the steering torque at this time is greater than the threshold torque and the steering direction is a direction to avoid the oncoming vehicle 200, the lane departure prevention function is suppressed. Therefore, the host vehicle 100 can be controlled to approach very close to the left white line L1 in the traveling direction of the white lines L1 and L2 on both sides of the road Rd1 and to stop just before a utility pole P1 located near the road. This prevents the lane departure prevention function from being activated and the vehicle automatically returning to the right even if the driver steers to the left.

[0031] FIG. 5 illustrates changes in three internal flags used in the lane departure prevention control process in the situation shown in FIG. 4. The top row of FIG. 5 shows changes over time in the object detection flag. The second row from the top shows changes over time in the evasive steering flag. The bottom row shows changes over time in the function suppression flag. The "object detection flag" is a flag that indicates, based on notification from the recognition device 50, whether or not an object is present within a predetermined range around the host vehicle 100. The "evasive steering flag" is a flag that indicates whether or not steering is for the purpose of avoiding an object. In other words, the evasive steering flag is a flag that indicates whether or not the steering torque is equal to or greater than a threshold torque. The "function suppression flag" is a flag that indicates whether or not the lane departure prevention function is suppressed.

[0032] 5, at time T1, an oncoming vehicle 200 is detected, and therefore the object detection flag is turned on. Thereafter, at time T2 when step S115 is completed and it is determined that the steering direction and amount fall within the avoidance range, the avoidance steering flag is turned on, and at approximately the same time, step S120 is executed and the function suppression flag is turned on. At time T3 when the direction of host vehicle 100 becomes one that allows it to avoid oncoming vehicle 200 and steering wheel turning back begins, the avoidance steering flag returns from on to off. Thereafter, at time T4 when it is determined that the object has disappeared (step S130: YES) and suppression of the lane departure prevention function is stopped (step S125), both the object detection flag and the function suppression flag return from on to off.

[0033] The deviation prevention control device 10 of the first embodiment described above determines whether the steering of the vehicle 100 is steering to avoid an object and suppresses the lane departure prevention function based on the determination result. Therefore, for example, when passing an oncoming vehicle 200 on a narrow road and attempting to steer very close to a dividing line (white line L1), a guardrail, a utility pole P1, or the like to avoid the oncoming vehicle 200, the lane departure prevention function is prevented from being activated, thereby reducing the inconvenience to the driver. The lane departure prevention function can be appropriately suppressed and stopped. In addition, if the steering direction and amount indicated by the steering information fall within a predetermined avoidance range that represents the range of steering direction and amount for the vehicle 100 to avoid an object present around the vehicle, the steering is determined to be for avoiding the object. Therefore, it is possible to accurately determine whether the steering is for avoiding the object. Furthermore, it is possible to prevent the lane departure prevention function from being activated even when the driver is steering to avoid the object, thereby causing excessive inconvenience to the driver. In addition, if the steering direction and amount indicated by the steering information are outside the avoidance range, the suppression of the lane departure prevention function is stopped, so the lane departure prevention function can be activated in situations where the driver is not steering to avoid an object even though an object is present in the surrounding area, for example, when the driver's level of awareness is low or the driver is distracted while driving.

[0034] In addition, the amount of steering (magnitude of steering torque) within the avoidance range is preset to a range greater than the amount of steering that occurs when the vehicle 100 is traveling straight, so excessive suppression of the lane departure prevention function due to steering to the left or right that may occur when traveling straight can be avoided.

[0035] B. Second embodiment: The deviation prevention controller 10a of the second embodiment shown in FIG. 6 differs from the deviation prevention controller 10 of the first embodiment in that it includes a straight-line traveling judgment unit 14 and a steering amount setting unit 15. The other configurations of the deviation prevention controller 10a are the same as those of the deviation prevention controller 10, so the same configurations are given the same reference numerals and detailed description thereof will be omitted. The deviation prevention controller 10a executes the same processes as those described in the first embodiment. In the first embodiment, the threshold torque used in the steering judgment process was a preset fixed value. In contrast, in the second embodiment, the threshold torque is set based on the measured value of the actual steering torque measured by executing the steering amount setting process described below.

[0036] The straight-line determination unit 14 determines whether the vehicle 100 is traveling straight. In this embodiment, the straight-line determination unit 14 identifies the lane on which the vehicle 100 is traveling from the detection result of the sensor 40, and determines whether the lane is straight, in other words, whether the vehicle 100 is traveling through a curve or an intersection. If it is determined that the lane on which the vehicle 100 is traveling is straight, it is determined that "the vehicle 100 is traveling straight."

[0037] The steering amount setting unit 15 sets a threshold torque used in the steering judgment process. Similar to the other functional units 11 to 13 of the departure prevention control device 10a, the straight-ahead judgment unit 14 and the steering amount setting unit 15 are realized by the CPU of the departure prevention control device 10a executing a control program.

[0038] The steering amount setting process shown in Fig. 7 is executed when the departure prevention control device 10 is powered on. The steering amount setting unit 15 determines whether or not the host vehicle 100 is traveling straight on a straight road (step S305). As described above, the steering amount setting unit 15 uses the detection result from the sensor 40 to determine whether or not the host vehicle 100 is traveling straight on a straight road. If it is determined that the host vehicle 100 is not traveling straight on a straight road (step S305: NO), step S305 is executed again.

[0039] On the other hand, if it is determined that the host vehicle 100 is traveling straight on a straight road (step S305: YES), the steering amount setting unit 15 records the steering torque for a predetermined period (step S310). The steering amount setting unit 15 calculates the average value of the steering torque for the predetermined period (step S315). The steering amount setting unit 15 sets the steering torque obtained by adding a margin to the average value of the steering torque calculated in step S315 as the boundary value of the steering amount range within the avoidance range, i.e., the above-mentioned threshold torque (step S320).

[0040] The deviation prevention control device 10a of the second embodiment described above has the same effects as the deviation prevention control device 10 of the first embodiment. In addition, during the period in which it is determined that the vehicle 100 is traveling straight, the amount of steering is learned and the amount of steering (threshold torque) in the avoidance range is set, so the amount of steering that occurs when traveling straight can be accurately determined and an appropriate range can be set as the avoidance range.

[0041] C. Third embodiment: The departure prevention controller 10b of the third embodiment shown in FIG. 8 differs from the departure prevention controller 10 of the first embodiment in that it includes an acceleration acquisition unit 16 and an overtaking completion determination unit 17. The other configuration of the departure prevention controller 10b is the same as that of the departure prevention controller 10, so the same configuration is given the same reference numerals and detailed description thereof will be omitted. The acceleration acquisition unit 16 acquires the acceleration of the vehicle 100 detected by the acceleration sensor 44. The overtaking completion determination unit 17 determines whether the host vehicle 100 has overtaken another vehicle traveling in a lane adjacent to the traveling lane and has completed the overtaking. The acceleration acquisition unit 16 and the overtaking completion determination unit 17 are implemented by the CPU of the controller 10b executing a control program.

[0042] The lane departure prevention control process of the third embodiment shown in Fig. 9 differs from the lane departure prevention control process of the first embodiment shown in Fig. 2 in that steps S121 and S122 are additionally executed. Since the other steps in the lane departure prevention control process of the third embodiment are the same as those of the first embodiment, the same steps are denoted by the same reference numerals and detailed description thereof will be omitted.

[0043] 9, after completion of step S120, the acceleration acquisition unit 16 determines whether or not the vehicle 100 has accelerated based on the acceleration of the vehicle 100 acquired from the acceleration sensor 44 (step S121). If it is determined that the vehicle 100 has not accelerated (step S121: NO), the above-mentioned step S130 is executed, and it is determined whether or not the object has disappeared.

[0044] On the other hand, if it is determined that the vehicle 100 has accelerated (step S121: YES), the overtaking completion determination unit 17 determines whether or not overtaking the object has been completed (step S122). Specifically, the process shown in FIG. 10 is executed. A situation in which an object is present around the vehicle 100, steering is performed to avoid the object, and the vehicle 100 then accelerates is assumed to be a situation in which the vehicle is overtaking another vehicle traveling in an adjacent lane. Therefore, step S122 is executed to determine whether or not overtaking has been completed.

[0045] 10, the overtaking completion determination unit 17 uses information received from the recognition device 50 and the sensor 40 to determine whether the lane boundary line that was hidden by the detected object has become exposed (step S405). If it is determined that the lane boundary line that was hidden by the detected object has become exposed (step S405: YES), the overtaking completion determination unit 17 determines that the overtaking has been completed (step S410). On the other hand, if it is determined that the lane boundary line that was hidden by the detected object has not been exposed (step S405: NO), the overtaking completion determination unit 17 determines that the overtaking has not been completed (step S415). When overtaking another vehicle traveling in an adjacent lane, the lane boundary line is temporarily hidden by the other vehicle, and then, when the overtaking is completed, the lane boundary line is exposed.

[0046] As shown in FIG. 9, if it is determined that overtaking has been completed (step S122: YES), the above-mentioned step S125 is executed. Therefore, the suppression of the lane departure prevention function is stopped. When overtaking has been completed, avoidance steering to avoid another vehicle traveling in the adjacent lane is no longer necessary, so in this embodiment, the suppression of the lane departure prevention function is stopped. On the other hand, if it is determined that overtaking has not been completed (step S122: NO), the above-mentioned step S120 is executed. Therefore, the suppression of the lane departure prevention function continues to be executed.

[0047] The deviation prevention control device 10b of the third embodiment described above achieves the same effects as the deviation prevention control device 10 of the first embodiment. In addition, if the host vehicle 100 accelerates after the steering direction and amount indicated by the steering information fall within the avoidance range, the execution of suppression of the lane departure prevention function continues until the overtaking completion determination unit 17 determines that overtaking has been completed, so it is possible to prevent the lane departure prevention function from activating even when overtaking has not been completed, and to prevent the vehicle from getting too close to an object to be overtaken (for example, a vehicle running alongside). This prevents the driver and vehicle occupants from feeling scared when they get too close to the object.

[0048] D. Fourth embodiment: The deviation prevention control device 10c of the fourth embodiment shown in Figure 11 differs from the deviation prevention control device 10b of the third embodiment in that it includes an offset driving information acquisition unit 18. The other configurations of the deviation prevention control device 10c are the same as those of the deviation prevention control device 10b, so the same configurations are given the same reference numerals and detailed description thereof will be omitted. Furthermore, the deviation prevention control device 10c of the fourth embodiment executes the same processing as the lane deviation prevention control processing of the third embodiment shown in Figure 9.

[0049] The offset driving information acquisition unit 18 acquires offset driving execution information from the following control unit 61. The offset driving information acquisition unit 18 is realized by the CPU of the control device 10c executing a control program. The "offset driving execution information" refers to information indicating whether or not offset driving is being performed, in which the vehicle 100 offsets its widthwise position within the lane in order to overtake a vehicle traveling in an adjacent lane. When passing next to a vehicle traveling in an adjacent lane to overtake, if the vehicle is a large vehicle such as a bus or trailer, passing nearby may instill fear in the occupants. Therefore, when the other vehicle traveling alongside is a large vehicle, the following control unit 61 performs "offset driving," in which the vehicle travels at an offset position along the widthwise direction of the lane to move away from the other vehicle when overtaking the other vehicle. The following control unit 61 manages whether or not such offset driving is being performed and can transmit offset driving execution information to the deviation prevention control device 10c.

[0050] The overtaking completion determination process of the fourth embodiment shown in Fig. 12 differs from the overtaking completion determination process of the third embodiment shown in Fig. 10 in that step S405a is executed instead of step S405. Since the other steps in the overtaking completion determination process of the fourth embodiment are the same as those of the third embodiment, the same steps are denoted by the same reference numerals and detailed description thereof will be omitted.

[0051] The overtaking completion determination unit 17 uses the offset traveling information acquired by the offset traveling information acquisition unit 18 from the following control unit 61 to determine whether or not offset traveling has stopped after offset traveling was performed (step S405a). If it is determined that offset traveling has stopped after offset traveling was performed (step S405a: YES), the above-mentioned step S410 is executed, and it is determined that overtaking has been completed. On the other hand, if it is determined that offset traveling has not stopped after offset traveling was performed (step S405a: NO), the above-mentioned step S415 is executed, and it is determined that overtaking has not been completed.

[0052] The deviation prevention control device 10c of the fourth embodiment described above has the same effects as the deviation prevention control device 10b of the third embodiment. In addition, since it is determined that overtaking is complete when the vehicle is stopped after offset driving has been performed, it is possible to accurately determine whether or not overtaking is complete.

[0053] E. Fifth embodiment: A departure prevention controller 10d of the fifth embodiment shown in FIG. 13 differs from the departure prevention controller 10 of the first embodiment in that it includes a zone determination unit 19. The remaining configuration of the departure prevention controller 10d is the same as that of the departure prevention controller 10, so the same components are given the same reference numerals and detailed description thereof will be omitted. The zone determination unit 19 determines whether the zone in which the vehicle 100 is traveling is a no-overtaking zone. An "no-overtaking zone" refers to a zone that is predetermined by law or regulation as a zone in which overtaking by other vehicles is prohibited. In this embodiment, the zone determination unit 19 includes map information that includes information indicating the no-overtaking zone, and by referencing this map information, determines whether the current traveling position of the vehicle 100 is within the no-overtaking zone. The zone determination unit 19 is implemented by a CPU included in the controller 10d executing a control program.

[0054] The lane departure prevention control process of the fifth embodiment shown in Figure 14 differs from the lane departure prevention control process of the first embodiment shown in Figure 2 in that step S116 is added and executed. Since the other steps in the lane departure prevention control process of the fifth embodiment are the same as those of the first embodiment, the same steps are denoted by the same reference numerals and detailed description thereof will be omitted.

[0055] In the above-mentioned step S115, if it is determined that the steering direction and steering amount fall within the avoidance range for avoiding an object (step S115: YES), the area determination unit 19 determines whether or not the host vehicle 100 is traveling in an overtaking no-passing area (step S116). If it is determined that the host vehicle 100 is not traveling in an overtaking no-passing area (step S116: NO), the above-mentioned step S120 is executed, and the lane departure prevention function is suppressed. On the other hand, if it is determined that the host vehicle 100 is traveling in an overtaking no-passing area (step S116: YES), the above-mentioned step S125 is executed, and the suppression of the lane departure prevention function is stopped.

[0056] The deviation prevention control device 10d of the fifth embodiment described above has the same effects as the deviation prevention control device 10 of the first embodiment. In addition, when it is determined that the vehicle 100 is traveling in a no-overtaking zone, the suppression of the lane departure prevention function is stopped, thereby making it possible to suppress encouraging overtaking in no-overtaking zones and contributing to improving morale.

[0057] F. Sixth embodiment: The departure prevention control device 10e of the sixth embodiment shown in Figure 15 differs from the departure prevention control device 10 of the first embodiment in that it includes an awakening determination unit 20. The other configurations of the departure prevention control device 10e are the same as those of the departure prevention control device 10, so the same configurations are given the same reference numerals and detailed description thereof will be omitted. The awakening determination unit 20 determines whether the driver of the vehicle 100 is awakened or not. The awakening determination unit 20 is realized by the CPU of the control device 10e executing a control program.

[0058] The lane departure prevention control process of the sixth embodiment shown in Figure 16 differs from the lane departure prevention control process of the first embodiment shown in Figure 2 in that step S117 is added and executed. Since the other steps in the lane departure prevention control process of the sixth embodiment are the same as those of the first embodiment, the same steps are denoted by the same reference numerals and detailed descriptions thereof will be omitted.

[0059] In the above-mentioned step S115, if it is determined that the steering direction and steering amount fall within the avoidance range for avoiding the object (step S115: YES), the awake judgment unit 20 executes the awake judgment process shown in FIG. 17 to judge whether the driver is awake or not (step S117).

[0060] 17, the awakening determination unit 20 continuously determines the relative position of the host vehicle 100 with respect to the lane boundary line for a predetermined period of time based on the detection result of the sensor 40 (step S505). In this embodiment, the "relative position" in step 505 means the distance along the vehicle width direction from the lane boundary line on the left side of the lane in which the host vehicle 100 is traveling to the leftmost position on the host vehicle 100.

[0061] The awakening determination unit 20 determines whether the relative position determined in step S505 has changed beyond a threshold range (step S510). In other words, the awakening determination unit 20 determines whether the maximum change in the relative position within a predetermined period has exceeded a threshold change amount. If it is determined that the relative position has changed beyond the threshold range (step S510: YES), the awakening determination unit 20 determines that the driver is not awakened (step S515). On the other hand, if it is determined that the relative position has not changed beyond the threshold range (step S510: NO), the awakening determination unit 20 determines that the driver is awakened (step S515). If the driver is not awakened, it becomes difficult to steer the vehicle 100 along the shape of the road, and the relative position of the vehicle 100 with respect to the lane boundary line may change significantly. On the other hand, if the driver is awakened, the driver generally drives the vehicle 100 while steering to keep it in the center of the lane.

[0062] As shown in FIG. 16, if it is determined that the driver is awake (step S117: YES), the above-mentioned step S120 is executed, and the lane departure prevention function is suppressed. On the other hand, if it is determined that the driver is not awake (step S117: NO), the above-mentioned step S125 is executed, and the suppression of the lane departure prevention function is stopped. If the driver is not awake and suddenly turns the steering wheel for some reason, the steering direction and amount may fall within the avoidance range. In this embodiment, in such a case, the suppression of the lane departure prevention function is stopped, and the lane departure prevention function is activated.

[0063] The deviation prevention control device 10e of the sixth embodiment described above achieves the same effects as the deviation prevention control device 10 of the first embodiment. In addition, if it is determined that the driver is not awake, the suppression of the lane departure prevention function is stopped, so that excessive suppression of the lane departure prevention function can be prevented in situations where the driver is not awake and the lane departure prevention function is necessary. In addition, if the relative position of the vehicle 100 with respect to the lane boundary line changes beyond a predetermined threshold avoidance range, it is determined that the driver is not awake. Therefore, it is possible to accurately determine whether the driver is awake, and since dedicated equipment for determining whether the driver is awake is not required, the cost of the vehicle 100 can be reduced.

[0064] G. Seventh embodiment: A departure prevention control device 10f of the seventh embodiment shown in FIG. 18 differs from the departure prevention control device 10 of the first embodiment in that it includes an inattentive driving judgment unit 21. The other configurations of the departure prevention control device 10f are the same as those of the departure prevention control device 10, so the same configurations are given the same reference numerals and detailed description thereof will be omitted. The inattentive driving judgment unit 21 judges whether or not the driver of the vehicle 100 is inattentive driving. In this embodiment, the inattentive driving judgment unit 21 estimates the direction of the driver's line of sight using an image of the driver's face acquired by an imaging device (not shown) that images the interior of the vehicle cabin and is mounted on the vehicle 100, and judges whether or not the driver is inattentive driving based on this direction. The inattentive driving judgment unit 21 is implemented by the CPU of the control device 10f executing a control program.

[0065] The lane departure prevention control process of the seventh embodiment shown in Figure 19 differs from the lane departure prevention control process of the first embodiment shown in Figure 2 in that step S118 is added and executed. Since the other steps in the lane departure prevention control process of the seventh embodiment are the same as those of the first embodiment, the same steps are denoted by the same reference numerals and detailed description thereof will be omitted.

[0066] In the above-mentioned step S115, if it is determined that the steering direction and steering amount fall within the avoidance range for avoiding an object (step S115: YES), the inattentive driving determination unit 21 determines whether the driver is inattentive driving (step S118).

[0067] If it is determined that the driver is not looking away from the road (step S118: NO), the above-mentioned step S120 is executed, and the lane departure prevention function is suppressed. On the other hand, if it is determined that the driver is looking away from the road (step S118: YES), the above-mentioned step S125 is executed, and the suppression of the lane departure prevention function is stopped.

[0068] The deviation prevention control device 10f of the seventh embodiment described above has the same effects as the deviation prevention control device 10 of the first embodiment. In addition, if it is determined that the driver is looking away from the road, the suppression of the lane departure prevention function is stopped, so that excessive suppression of the lane departure prevention function can be prevented in situations where the driver is looking away from the road and the lane departure prevention function is necessary.

[0069] H. Eighth embodiment: The deviation prevention control device 10g of the eighth embodiment shown in FIG. 20 differs from the deviation prevention control device 10 of the first embodiment in that it includes a switching unit 22. The other configurations of the deviation prevention control device 10g are the same as those of the deviation prevention control device 10, so the same configurations are given the same reference numerals and detailed descriptions thereof will be omitted. The switching unit 22 switches, in response to input from the UI unit 67, whether or not the notification function of the notification control unit 65 is to be subject to suppression by the suppression execution unit 13. The switching unit 22 is implemented by the CPU of the control device 10g executing a control program.

[0070] For example, if the driver operates a touch panel on the display unit (not shown) to select a menu item "Do not suppress notification function" (presses the corresponding selection button), the switching unit 22 sets the notification function to be excluded from the list of functions to be suppressed. In this case, when step S120 in the lane departure prevention control process shown in Fig. 2 is executed, functions other than the notification function are suppressed. In other words, functions that automatically steer or brake to prevent lane departure are suppressed (stopped), while functions that notify the driver of the possibility of departure are activated, and output of an alarm sound, display of an alarm message on the display unit, etc. are executed without being suppressed.

[0071] The deviation prevention control device 10g of the eighth embodiment described above achieves the same effects as the deviation prevention control device 10 of the first embodiment. In addition, the vehicle 100 is provided with a switching unit 22 that switches whether or not the notification function is to be subject to suppression by the suppression execution unit 13 in response to an input from a user interface mounted on the vehicle 100, so that a driver or other occupant can choose to keep the notification function active at all times, and can also choose to suppress the notification function in situations where the lane departure prevention function should be suppressed, thereby improving convenience.

[0072] I. Other Embodiments: (I1) In the first to seventh embodiments, the suppression execution unit 13 suppresses all functions included in the lane departure prevention function, but the present disclosure is not limited to this. It may suppress only some of the functions included in the lane departure prevention function. For example, it may suppress only the function of automatically steering or braking to prevent lane departure. Furthermore, it may suppress only the function of notifying the driver of the possibility of lane departure. Even with such a configuration, the same effects as those of each embodiment are achieved.

[0073] (I2) In each embodiment, "suppressing the lane departure prevention function" means stopping the lane departure prevention function (not functioning at all), but the present disclosure is not limited to this. The degree to which such a function is activated may be reduced. For example, in a function that automatically steers to prevent lane departure, the steering angle may be reduced. Also, for example, in a function that automatically brakes to prevent lane departure, the amount of braking may be reduced. Also, for example, in a function that notifies the driver of the possibility of lane departure, the notification may be provided by either voice or text information. Also, the volume may be reduced so that the notification is provided by voice.

[0074] (I3) In each embodiment, the "steering amount" refers to steering torque, but the present disclosure is not limited to this. It may also refer to yaw angle. In such a configuration, the steering control unit 63 may notify the steering information acquisition unit 12 of the yaw angle detected by the yaw sensor as part of the steering information.

[0075] (I4) In the sixth embodiment, the wakefulness determination unit 20 determines whether the driver is awake by determining whether the maximum change amount of the relative position within a predetermined period exceeds a threshold change amount. However, the present disclosure is not limited to this. The wakefulness determination unit 20 may determine whether the driver is awake based on the number of blinks and the degree of eye opening using an image of the driver's face acquired by an imaging device (not shown) mounted on the vehicle 100 that captures images of the interior of the vehicle. For example, the wakefulness determination unit 20 may determine that the driver is not awake in at least one of the following cases: the number of blinks within a predetermined period is equal to or less than a predetermined number; or the degree of eye opening has decreased by 20% or more since getting in the vehicle; and may determine that the driver is awake in neither case.

[0076] (I5) In the third embodiment, the acceleration acquisition unit 16 determines whether the overtaking has been completed by determining whether the lane boundary line that was hidden by the detected object has become exposed. However, the present disclosure is not limited to this. The acceleration acquisition unit 16 may determine whether the overtaking has been completed based on at least one of the following (i), (ii), and (iii): (i) Whether the position of the object indicated by the position related information acquired by the object position information acquisition unit 11 is behind the vehicle 100 or not. (ii) Whether or not a lane boundary line that was obscured by a detected object has been exposed. (iii) Whether the position of the vehicle 100 in the width direction within the travel lane has returned to the position before the steering direction and steering amount indicated by the steering information deviated from the avoidance range. Regarding (iii) above, when overtaking, the vehicle generally positions itself so as to move away from the object to be overtaken (the other vehicle traveling in the adjacent lane) in the width direction of the traveling lane, and once the overtaking is complete, it is highly likely that the vehicle will return to its original position in the width direction. Therefore, even with (iii) above, it is possible to accurately determine whether the overtaking has been completed.

[0077] (I6) The deviation prevention control device 10, 10a to 10g and the method thereof described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to execute one or more functions embodied in a computer program. Alternatively, the deviation prevention control device 10, 10a to 10g and the method thereof described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the deviation prevention control device 10, 10a to 10g and the method thereof described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to execute one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible recording medium.

[0078] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, technical features in each embodiment corresponding to technical features in the embodiments described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. The present disclosure can be realized in the form of, for example, a control method for controlling a lane departure prevention function, a computer program for implementing such a method, a non-transitory recording medium on which such a computer program is recorded, etc. [Explanation of symbols]

[0079] 10, 10a to 10g... departure prevention control device, 11... object position information acquisition unit, 12... steering information acquisition unit, 13... suppression execution unit, 50... recognition device, 63... steering control unit, 100... vehicle

Claims

1. A lane departure prevention control device (10, 10a to 10g) that controls a lane departure prevention function for preventing a vehicle (100) from departing from its lane, an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object present around the vehicle; a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls the steering of the vehicle; a suppression execution unit (13) that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane departure prevention function according to the determination result; Equipped with The suppression execution unit If the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, it is determined that the steering is for avoiding the object, and at least a part of the lane departure prevention function is suppressed (S120). If the steering direction and amount indicated by the steering information are outside the avoidance range, it is determined that the steering is not for avoiding the object, and at least a part of the suppression of the lane departure prevention function is stopped (S125). the amount of steering in the avoidance range is set in advance as a range greater than the amount of steering that occurs when the vehicle is traveling straight, a straight-ahead determination unit (14) that acquires information from a sensor (40) mounted on the vehicle and determines whether the vehicle is traveling straight using the acquired information; a steering amount setting unit (15) that learns the amount of steering during a period in which it is determined that the vehicle is traveling straight and sets the amount of steering within the avoidance range; The deviation prevention control device further comprises:

2. A lane departure prevention control device (10, 10a to 10g) that controls a lane departure prevention function for preventing a vehicle (100) from departing from its lane, an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object present around the vehicle; a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls the steering of the vehicle; a suppression execution unit (13) that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane departure prevention function according to the determination result; Equipped with an acceleration acquisition unit (16) that acquires information about the acceleration of the vehicle; an overtaking completion determination unit (17) that determines whether or not the vehicle has completed overtaking the object; Furthermore, the suppression execution unit continues execution of suppression of at least a portion of the lane departure prevention function until the overtaking completion determination unit determines that the overtaking has been completed, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, and when it is determined that the overtaking has been completed, stops execution of suppression of at least a portion of the lane departure prevention function; The overtaking completion determination unit a position of the object indicated by the position-related information; a determination result based on a detection result of a sensor mounted on the vehicle as to whether or not a lane boundary line that was hidden by the object has become exposed; a determination result as to whether the widthwise position of the vehicle in the driving lane, which is the lane in which the vehicle is traveling, has returned to the position before the steering direction and amount indicated by the steering information deviated from the avoidance range; and and determining whether the overtaking has been completed based on at least one of the above.

3. A lane departure prevention control device (10, 10a to 10g) that controls a lane departure prevention function for preventing a vehicle (100) from departing from its lane, an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object present around the vehicle; a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls the steering of the vehicle; a suppression execution unit (13) that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane departure prevention function according to the determination result; Equipped with an acceleration acquisition unit (16) that acquires information about the acceleration of the vehicle; an overtaking completion determination unit (17) that determines whether or not the vehicle has completed overtaking the object; Furthermore, the suppression execution unit continues execution of suppression of at least a portion of the lane departure prevention function until the overtaking completion determination unit determines that the overtaking has been completed, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, and when it is determined that the overtaking has been completed, stops execution of suppression of at least a portion of the lane departure prevention function; The vehicle further includes an offset driving information acquisition unit (18) that acquires, from a following function control unit that controls a preceding vehicle following function mounted on the vehicle, offset driving execution information that is information regarding whether or not offset driving is being performed, in which the position of the vehicle in the width direction in a driving lane that is the lane in which the vehicle is traveling is offset in order to overtake a vehicle traveling alongside in an adjacent lane, The overtaking completion determination unit determines that the overtaking is completed when the offset traveling is stopped after being executed based on the acquired offset traveling execution information (S405a).

4. A lane departure prevention control device (10, 10a to 10g) that controls a lane departure prevention function for preventing a vehicle (100) from departing from its lane, an object position information acquisition unit (11) that acquires position-related information, which is information relating to the position of a detected object, from a recognition device (50) that detects an object present around the vehicle; a steering information acquisition unit (12) that acquires steering information from a steering control unit (63) that controls the steering of the vehicle; a suppression execution unit (13) that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane departure prevention function according to the determination result; Equipped with The vehicle further includes an area determination unit (19) that determines whether the vehicle is traveling in an area where overtaking is prohibited based on the detection result of a sensor mounted on the vehicle, The lane departure prevention control device, wherein the suppression execution unit stops suppressing at least part of the lane departure prevention function when the area judgment unit determines that the vehicle is traveling in the no-overtaking area, even if the steering is to avoid an object.

5. The deviation prevention control device according to any one of claims 1 to 4, The vehicle further includes an awakening determination unit (20) for determining whether the driver of the vehicle is awakened or not, The suppression execution unit stops suppression of at least a part of the lane departure prevention function when the awakening determination unit determines that the driver is not awakened, The wakefulness determination unit determines that the driver is not awake when the relative position of the vehicle with respect to a lane boundary line changes beyond a predetermined threshold avoidance range based on the detection results of a sensor installed in the vehicle.

6. The deviation prevention control device according to any one of claims 1 to 4, The vehicle further includes an inattentive driving determination unit (21) that determines whether or not the driver of the vehicle is inattentively driving based on the detection result of a sensor mounted on the vehicle, The lane departure prevention control device, wherein the suppression execution unit stops suppressing at least part of the lane departure prevention function when the inattentive driving judgment unit judges that the driver is inattentive driving.

7. The deviation prevention control device according to any one of claims 1 to 4, The lane departure prevention function includes a notification function that notifies the driver of the vehicle that the vehicle is deviating from or is about to deviate from a lane, The departure prevention control device further includes a switching unit (22) that switches whether or not the notification function is to be subject to suppression by the suppression execution unit in accordance with an input from a user interface (67) mounted on the vehicle.

8. A control method for controlling a lane departure prevention function for preventing a vehicle from deviating from its lane, comprising: (a) acquiring, in the deviation prevention control device, position-related information relating to the position of a detected object from a recognition device that detects an object present around the vehicle; (b) acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution step in which, in the deviation prevention control device, the position-related information and the steering information are used to determine whether the steering is for avoiding the object, and the lane deviation prevention function is at least partially suppressed in accordance with the determination result; Equipped with The suppression execution step includes: If the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, determining that the steering is for avoiding the object, and executing at least a partial suppression of the lane departure prevention function (S120); and a step of determining, when the steering direction and amount indicated by the steering information are outside the avoidance range, that the steering is not for avoiding the object, and stopping at least a part of the suppression of the lane departure prevention function (S125), the amount of steering in the avoidance range is set in advance as a range greater than the amount of steering that occurs when the vehicle is traveling straight, a step of acquiring information from a sensor (40) mounted on the vehicle and determining whether the vehicle is traveling straight using the acquired information; learning the amount of steering during a period in which it is determined that the vehicle is traveling straight, and setting the amount of steering within the avoidance range; Further provided with Control method.

9. A control method for controlling a lane departure prevention function for preventing a vehicle from deviating from its lane, comprising: (a) acquiring, in the deviation prevention control device, position-related information relating to the position of a detected object from a recognition device that detects an object present around the vehicle; (b) acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution step in which, in the deviation prevention control device, the position-related information and the steering information are used to determine whether the steering is for avoiding the object, and the lane deviation prevention function is at least partially suppressed in accordance with the determination result; Equipped with obtaining information regarding the acceleration of the vehicle; an overtaking completion determination step of determining whether or not the vehicle has completed overtaking the object; Furthermore, the suppression execution step includes a step of, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, continuing execution of suppression of at least a portion of the lane departure prevention function until it is determined that the overtaking has been completed by the overtaking completion determination step, and stopping the suppression of at least a portion of the lane departure prevention function when it is determined that the overtaking has been completed; The overtaking completion determination step includes: a position of the object indicated by the position-related information; a determination result based on a detection result of a sensor mounted on the vehicle as to whether or not a lane boundary line that was hidden by the object has become exposed; a determination result as to whether the widthwise position of the vehicle in the driving lane, which is the lane in which the vehicle is traveling, has returned to the position before the steering direction and amount indicated by the steering information deviated from the avoidance range; and determining whether the overtaking is complete based on at least one of the following:

10. A control method for controlling a lane departure prevention function for preventing a vehicle from deviating from its lane, comprising: (a) acquiring, in the deviation prevention control device, position-related information relating to the position of a detected object from a recognition device that detects an object present around the vehicle; (b) acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution step in which, in the deviation prevention control device, the position-related information and the steering information are used to determine whether the steering is for avoiding the object, and the lane deviation prevention function is at least partially suppressed in accordance with the determination result; Equipped with obtaining information regarding the acceleration of the vehicle; an overtaking completion determination step of determining whether or not the vehicle has completed overtaking the object; Furthermore, the suppression execution step includes a step of, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, continuing execution of suppression of at least a portion of the lane departure prevention function until it is determined that the overtaking has been completed by the overtaking completion determination step, and stopping the suppression of at least a portion of the lane departure prevention function when it is determined that the overtaking has been completed; and acquiring offset driving execution information from a following function control unit that controls a preceding vehicle following function mounted on the vehicle, the offset driving execution information being information regarding whether or not offset driving is being performed, in which the position of the vehicle in the width direction within a driving lane in which the vehicle is traveling is offset in order to overtake a vehicle traveling alongside in an adjacent lane, The overtaking completion determination process includes a process of determining (S405a) that the overtaking is completed when the offset driving is stopped after being executed based on the acquired offset driving execution information.

11. A computer program for controlling a lane departure prevention function for preventing a vehicle from leaving its lane, (a) in the deviation prevention control device, a function of acquiring position-related information, which is information relating to the position of a detected object, from a recognition device that detects an object existing around the vehicle; (b) a function of acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution function in the deviation prevention control device that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane deviation prevention function in accordance with the determination result; This is realized on a computer, The inhibiting executive function a function of determining that the steering is for avoiding the object when the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, and executing at least a partial suppression of the lane departure prevention function (S120); and a function of determining that the steering is not for avoiding the object when the steering direction and amount indicated by the steering information are outside the avoidance range, and stopping at least a part of the suppression of the lane departure prevention function (S125), the amount of steering in the avoidance range is set in advance as a range greater than the amount of steering that occurs when the vehicle is traveling straight, a function of acquiring information from a sensor (40) mounted on the vehicle and determining whether the vehicle is traveling straight or not using the acquired information; a function of learning the amount of steering during a period in which it is determined that the vehicle is traveling straight and setting the amount of steering within the avoidance range; and further causing the computer to implement the above. Computer program.

12. A computer program for controlling a lane departure prevention function for preventing a vehicle from leaving its lane, (a) in the deviation prevention control device, a function of acquiring position-related information, which is information relating to the position of a detected object, from a recognition device that detects an object existing around the vehicle; (b) a function of acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution function in the deviation prevention control device that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane deviation prevention function in accordance with the determination result; This is realized on a computer, acquiring information about the acceleration of the vehicle; an overtaking completion determination function for determining whether or not the vehicle has completed overtaking the object; and further causing the computer to execute the above. the suppression execution function includes a function of, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, continuing execution of suppression of at least a portion of the lane departure prevention function until it is determined by the overtaking completion determination function that the overtaking has been completed, and, when it is determined that the overtaking has been completed, stopping the suppression of at least a portion of the lane departure prevention function; The overtaking completion determination function is a position of the object indicated by the position-related information; a determination result based on a detection result of a sensor mounted on the vehicle as to whether or not a lane boundary line that was hidden by the object has become exposed; a determination result as to whether the widthwise position of the vehicle in the driving lane in which the vehicle is traveling has returned to the position before the steering direction and amount indicated by the steering information deviated from the avoidance range; and a function of determining whether the overtaking has been completed based on at least one of the above.

13. A computer program for controlling a lane departure prevention function for preventing a vehicle from leaving its lane, (a) in the deviation prevention control device, a function of acquiring position-related information, which is information relating to the position of a detected object, from a recognition device that detects an object existing around the vehicle; (b) a function of acquiring steering information from a steering control unit that controls steering of the vehicle in the departure prevention control device; (c) a suppression execution function in the deviation prevention control device that uses the position-related information and the steering information to determine whether the steering is for avoiding the object, and executes suppression of at least a part of the lane deviation prevention function in accordance with the determination result; This is realized on a computer, acquiring information about the acceleration of the vehicle; an overtaking completion determination function for determining whether or not the vehicle has completed overtaking the object; and further causing the computer to execute the above. the suppression execution function includes a function of, when the acceleration increases after the steering direction and amount indicated by the steering information fall within an avoidance range set as a range of the steering direction and amount for the vehicle to avoid the object, continuing execution of suppression of at least a portion of the lane departure prevention function until it is determined by the overtaking completion determination function that the overtaking has been completed, and, when it is determined that the overtaking has been completed, stopping the suppression of at least a portion of the lane departure prevention function; The computer further realizes a function of acquiring offset driving execution information, which is information regarding whether or not offset driving is being performed, in which the widthwise position of the vehicle in a driving lane in which the vehicle is traveling is offset in order to overtake a vehicle traveling alongside the vehicle traveling in an adjacent lane, from a following function control unit that controls a preceding vehicle following function mounted on the vehicle, The overtaking completion determination function is a computer program that includes a function of determining (S405a) that the overtaking is completed when the offset driving is stopped after being executed based on the acquired offset driving execution information.

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