Motorcycle driving assistance system

Abstract

To provide a driving assistance system for a motorcycle capable of performing notification of deviation from a travel line of an own vehicle at appropriate timing corresponding to an attitude of a traveling vehicle body.SOLUTION: A driving assistance system 1 includes: a division line position acquisition part for acquiring an object division line position PL0 of an object division line on the basis of front information on a front state of an own vehicle 7; and a deviation notification part for performing notification on deviation of the own vehicle 7 from a travel line 9 on the basis of a relation between the object division line position and set positions P1, P2 which are set in the own vehicle 7. When it is not grasped that the own vehicle is curve-traveling or leaning, the deviation notification part performs notification on the basis of a positional relation between the object division line position PL0 and the first set position P1 determined on a front tire 71 of the own vehicle 7. Otherwise, when it is grasped that the own vehicle is curve-traveling or leaning, the deviation notification part performs notification on the basis of a relation between the object division line position PL0 and a second set position P2 determined on a vertically upper side of the first set position P1 of the own vehicle 7.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a driving assistance system for a motorcycle, and more particularly to a driving assistance system for a motorcycle having a lane departure prevention function that notifies a driver when the vehicle deviates from its lane. [Background technology]

[0002] In recent years, in order to improve traffic safety, driver assistance functions such as vehicle following control and lane departure prevention functions have been increasingly adopted for motorcycles. Lane departure prevention functions are functions that notify (warn) the driver of a departure when there is an increased possibility that the vehicle will deviate from its own lane, and are already installed in many models of four-wheeled automobiles.

[0003] The lane departure warning device for motorcycles shown in Patent Document 1 notifies the driver of departure by vibrating the handle grip that the driver holds constantly. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-112316 Summary of the Invention [Problem to be solved by the invention]

[0005] The lane departure prevention function issues a notification about departure at a timing determined based on the relationship between a reference point determined for the vehicle body and the lane markings that separate the vehicle's driving lanes. Furthermore, in four-wheeled vehicles, the reference point for comparison with the lane markings is often determined to be the front tire, since the tire sidewalls are located near the outside of the vehicle width.

[0006] However, for motorcycles, the vehicle body posture differs when traveling in a straight line and when traveling on a curve. For this reason, it is not appropriate for lane departure prevention functions for motorcycles to uniquely define a reference point to be compared with the lane markings at a specific position on the vehicle body. In other words, if a unique reference point were defined for a motorcycle, the timing of issuing a notification would change depending on the vehicle body posture, which is not appropriate.

[0007] The present invention aims to provide a motorcycle driving assistance system that can notify the driver of deviation from the lane of the vehicle at an appropriate timing according to the posture of the vehicle body while the vehicle is traveling. [Means for solving the problem]

[0008] (1) A motorcycle driving assistance system according to the present invention (for example, driving assistance system 1, described later) includes forward information acquisition means (for example, an external sensor unit 2 and a navigation device 5, described later) that acquires forward information related to conditions ahead of a host vehicle (for example, a host vehicle 7, described later), a lane marking position acquisition means (for example, a lane marking position acquisition unit 61, described later) that acquires a lane marking position (for example, a target lane marking position PL0, described later) relative to the host vehicle's lane based on the forward information, and a deviation notification means that notifies the host vehicle of deviation from the lane marking position based on the relationship between the lane marking position and a set position (for example, a first set position P1, a second set position P2, and a third set position P3, described later) that is set for the host vehicle. The vehicle is equipped with a detection means (for example, a deviation notification unit 63 described later) for detecting whether the vehicle is traveling around a curve or leaning in the vehicle width direction (for example, a driving state detection unit 62 described later), and when it is not detected that the vehicle is traveling around a curve or leaning, the deviation notification means issues a notification based on the relationship between the lane marking position and a first set position (for example, a first set position P1 described later) set on the tires of the vehicle, and when it is detected that the vehicle is traveling around a curve or leaning, the deviation notification means issues a notification based on the relationship between the lane marking position and a second set position (for example, a second set position P2 described later) set on the vehicle vertically above the first set position.

[0009] (2) In this case, it is preferable that the lane marking position acquisition means acquires the position of the inner lane marking on the inside while traveling on the curve or on the slope side while traveling on the slope as the inner lane marking position, and acquires the position of the outer lane marking on the opposite side of the inner lane marking across the vehicle as the outer lane marking position, and that the deviation notification means notifies the driver of a deviation toward the inner lane marking in accordance with the relationship between the inner lane marking position and the second set position, and notifies the driver of a deviation toward the outer lane marking in accordance with the relationship between the outer lane marking position and the first set position.

[0010] (3) In this case, it is preferable that the second set position be determined with respect to a rearview mirror (for example, rearview mirrors 72 and 73 described below) of the vehicle.

[0011] (4) In this case, it is preferable that the second setting position be determined for the inner rearview mirror on the inner dividing line side of the two rearview mirrors (for example, rearview mirrors 72, 73 described below) provided on both sides of the vehicle width direction of the vehicle.

[0012] (5) In this case, when it is recognized that the vehicle is traveling around a curve or leaning and the condition for enabling curb-cutting is not satisfied, the deviation notification means issues a notification based on the relationship between a normal alarm setting point (for example, a first alarm setting point PL1 and a second alarm setting point PL2 described later) determined according to the position of the lane marking and the second set position, and when it is recognized that the vehicle is traveling around a curve or leaning and the condition for enabling curb-cutting is satisfied, the deviation notification means issues a notification based on the relationship between the normal alarm setting point and a third set position (for example, a third set position P3 described later) determined on the center side of the traveling lane from the second set position or the normal alarm setting point. The notification is made based on the relationship between the second set position and a curb-cutting driving warning setting point (for example, a third warning setting point PL3 ​​and a fourth warning setting point PL4 described below) that is set outside the driving lane of the vehicle than the curb-cutting driving warning setting point, and the forward information acquisition means includes an image acquisition means (for example, a camera unit 21 described below) that acquires image information in front of the vehicle, and it is preferable that the curb-cutting driving enabling condition is that the position of the inner lane marking on the inside while driving on the curve or on the slope side while tilting can be acquired up to a predetermined distance or more ahead from the vehicle, and that there are no objects that may come into contact with the vehicle in the area facing the vehicle across the inner lane marking. [Effects of the Invention]

[0013] (1) In the driving assistance system according to the present invention, the lane marking position acquisition means acquires the lane marking position based on forward information, and the deviation notification means notifies the driver of deviation from the lane based on the relationship between the acquired lane marking position and a preset position set for the vehicle. When the vehicle is not recognized as being curved or tilted, i.e., when the vehicle body is upright, the deviation notification means notifies the driver based on the relationship between the lane marking position and a first preset position set for the tire located at the center of the vehicle width direction. Furthermore, when the vehicle is recognized as being curved or tilted, i.e., when the vehicle body is tilted, the deviation notification means notifies the driver based on the relationship between the lane marking position and a second preset position set vertically above the first preset position on the vehicle. When the vehicle body is tilted, the second preset position is offset toward the tilt side from the first preset position by an amount corresponding to the tilt angle. Thus, in the present invention, by providing notification based on the relationship between the preset position and the lane marking position, which differs depending on whether the vehicle body is upright or tilted, the driver can be notified at an appropriate time according to the vehicle body's posture while traveling, thereby improving traffic safety.

[0014] (2) In the driving assistance system according to the present invention, the lane marking position acquisition means acquires the position of the inside lane marking when the vehicle is curved or on the slope side when the vehicle is tilting as the inside lane marking position, and acquires the position of the outside lane marking on the opposite side of the inside lane marking from the inside lane marking as the outside lane marking position. Furthermore, when the vehicle is curved or tilting, the departure notification means issues a notification regarding departure toward the inside lane marking in accordance with the relationship between the position of the inside lane marking and the second set position, which is closer to the inside lane marking, of the first and second set positions, and issues a notification regarding departure toward the outside lane marking in accordance with the relationship between the position of the outside lane marking and the first set position, which is closer to the outside lane marking. This allows for notification regarding departure from the vehicle's lane toward the inside lane marking or the outside lane marking to be issued at an appropriate time depending on the vehicle's posture while driving, thereby improving traffic safety.

[0015] (3) In the driving assistance system according to the present invention, a second preset position is set for the rearview mirror that is likely to be located furthest to the outer side of the vehicle when the vehicle is leaning, and a departure notification is given based on the relationship between this second preset position and the lane marking position. This allows the departure notification to be given at an appropriate time according to the posture of the vehicle while driving, thereby improving traffic safety.

[0016] (4) In the driving assistance system of the present invention, a second setting position is set for the inner rearview mirror, of the two rearview mirrors provided on both sides of the vehicle width direction, that is closest to the inner lane marking, and a notification regarding deviation toward the inner lane marking is given in accordance with the relationship between this second setting position and the position of the inner lane marking. This makes it possible to give a notification regarding deviation from the vehicle's driving lane toward the inner lane marking at an appropriate time according to the posture of the vehicle body while driving, thereby improving traffic safety.

[0017] (5) Some motorcycle drivers dislike the centrifugal force that causes their driving trajectory to bulge outward while driving around a curve, and so temporarily deviate toward the lane markings on the inside of the curve (hereinafter referred to as "curve-cutting"). Such curb-cutting is often intentionally performed by the driver after checking the conditions around the vehicle. For this reason, providing a deviation notification when the driver intentionally performs or is about to perform a curb-cutting may be irritating to the driver. Therefore, when the deviation notification means determines that the vehicle is traveling on a curve or leaning, it determines whether a predetermined condition for enabling curb-cutting is met, thereby determining whether the situation allows the motorcycle driver to intentionally perform a curb-cutting. If the deviation notification means determines that the condition for enabling curb-cutting is not met and therefore that the driver is unlikely to intentionally perform a curb-cutting, it provides a notification based on the relationship between the normal warning setting point, which is determined according to the lane marking position, and the second setting position. Furthermore, when it is determined that the curb-cutting driving conditions are met and therefore that there is a high possibility that the driver will intentionally cut the curve, the departure notification means issues a notification based on the relationship between the normal warning setting point and a third set position that is set closer to the center of the driving lane than the second set position, or the relationship between the curb-cutting driving warning setting point that is set further outward from the normal warning setting point and the second set position. In other words, when the curb-cutting driving conditions are met, the departure notification means lengthens the distance between the set position for the vehicle and the warning setting point for the lane marking compared to when the curb-cutting driving conditions are not met. This prevents excessive notifications from being sent to the driver even when the driver is intentionally cutting the curve, thereby improving traffic safety and convenience for the driver. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram schematically illustrating the configuration of a motorcycle driving assistance system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of a vehicle traveling in a traffic lane. [Figure 3] 4 is a flowchart showing a specific procedure of lane departure suppression control by the driving assistance control device. [Figure 4] 10 is a flowchart showing a specific procedure of a first warning process. [Figure 5A] FIG. 2 is a view of the vehicle in an upright position as seen from the front in the direction of travel. [Figure 5B] FIG. 10 is a view of a vehicle leaning toward the left lane marking as viewed from the front in the direction of travel. [Figure 6] 10 is a flowchart showing a specific procedure of a curve-cutting traveling determination process. [Figure 7] 10 is a flowchart showing a specific procedure of a second warning process. [Figure 8] FIG. 10 is a view of a vehicle leaning toward the left lane marking as viewed from the front in the direction of travel. [Figure 9] 10 is a flowchart showing a specific procedure of a third warning process (first example). [Figure 10] FIG. 10 is a view of a vehicle leaning toward the left lane marking as viewed from the front in the direction of travel. [Figure 11] 10 is a flowchart showing a specific procedure of the third warning process (second example). [Figure 12] FIG. 10 is a view of a vehicle leaning toward the left lane marking as viewed from the front in the direction of travel. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, the configuration of a motorcycle driving assistance system according to one embodiment of the present invention will be described with reference to the drawings.

[0020] FIG. 1 is a diagram showing the configuration of a driving assistance system 1 according to this embodiment. The driving assistance system 1 is mounted on a motorcycle (not shown). The driving source of the motorcycle may be an internal combustion engine, a rotating electric machine, or a combination of these. The power source for the rotating electric machine may be a secondary battery, a capacitor, or a fuel cell.

[0021] The driving assistance system 1 assists the driver in safe driving of a motorcycle. Of the various driving assistance functions realized by this driving assistance system 1, the following mainly describes a lane departure prevention function that prevents the vehicle from departing from its lane by notifying the driver of information related to the departure or possibility of departure from the lane in which the vehicle is traveling.

[0022] The driving assistance system 1 includes an external sensor unit 2, a vehicle sensor unit 3, a human-machine interface 4 (hereinafter abbreviated as "HMI 4"), a navigation device 5, a driving assistance control device 6, a driving operator 81, a driving force output device 82, and a brake device 83. These devices are connected to each other by multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc.

[0023] The external sensor unit 2 is composed of a camera unit 21, a lidar unit 22, a radar unit 23, an external recognition device 24, and the like.

[0024] The camera unit 21 includes a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) and acquires image information of the area ahead of the vehicle. The lidar unit 22 includes a light detection and ranging (LIDAR) that detects an object by measuring scattered light from the object in response to pulsed laser irradiation. The radar unit 23 includes a millimeter-wave radar that detects an object by measuring reflected waves from the object in response to millimeter-wave irradiation. The camera unit 21, lidar unit 22, and radar unit 23 are attached to any position on the motorcycle, such as the front windshield or mirror, while facing forward of the vehicle.

[0025] The external recognition device 24 is a computer that acquires information about the state ahead of the vehicle, more specifically, information about the position, shape, type, speed, etc. of the road and objects ahead of the vehicle (hereinafter, this information is also collectively referred to as "forward information"), by performing sensor fusion processing on the detection results from some or all of the camera unit 21, the lidar unit 22, and the radar unit 23. The external recognition device 24 transmits the acquired forward information to, for example, the driving assistance control device 6.

[0026] The vehicle sensor unit 3 includes a vehicle speed sensor that detects the speed of the vehicle itself, a five-axis or six-axis inertial measurement unit, etc. The inertial measurement unit detects the angles or angular velocities and accelerations of three axes (roll axis, pitch axis, and yaw axis) of the vehicle body. The detection signals of the vehicle sensor unit 3 are transmitted to, for example, the driving assistance control device 6.

[0027] The HMI 4 is composed of various devices that notify the vehicle occupants of various information and accept input operations by the occupants. The HMI 4 is equipped with various display devices, speakers, buzzers, touch panels, switches, keys, and vibrators that vibrate the handlebar grips. The occupants can turn on or off the lane departure prevention function provided by the driving assistance control device 6 by operating the switches provided on the HMI 4.

[0028] The navigation device 5 includes, for example, a GNSS (Global Navigation Satellite System) receiver that identifies the current position of the vehicle based on signals received from GNSS satellites, a storage device that stores map information, etc. The navigation device 5 transmits information about the current position of the vehicle together with map information of the current position to the driving assistance control device 6. Note that the current position and map information of the vehicle acquired by the navigation device 5 also include forward information about the conditions ahead of the vehicle.

[0029] The driving operators 81 include an accelerator grip and brake lever that the driver operates when accelerating or decelerating, a clutch lever and shift pedal that the driver operates when shifting gears, a steering wheel that the driver operates when turning or changing lanes, a turn signal switch that the driver operates when turning or changing lanes, and multiple operator sensors that detect the amount of operation of these and whether or not they are operated. Detection signals from these operator sensors are sent to the driving assistance control device 6.

[0030] The driving force output device 82 outputs a driving force to the driving wheels for driving the vehicle. The driving force output device 82 includes a driving force source such as an internal combustion engine or a rotating electric machine, a transmission, and an electronic control unit that controls the driving force source and the transmission based on command signals sent from the driving assistance control device 6 and generates acceleration / deceleration according to the commands.

[0031] The braking device 83 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and an electronic control unit that controls the electric motor based on a command signal sent from the driving assistance control device 6 and generates braking force according to the command.

[0032] The driving assistance control device 6 is a computer that controls the driving assistance functions. The driving assistance control device 6 includes a lane marking position acquisition unit 61, a driving state recognition unit 62, and a departure notification unit 63 as modules that realize the lane departure prevention function among the multiple driving assistance functions.

[0033] The lane marking position acquisition unit 61 identifies the lane in which the vehicle is currently traveling, based on forward information acquired by the external recognition device 24, the navigation device 5, etc., and acquires the positions of the lane markings that demarcate both sides of the lane in the vehicle width direction (hereinafter simply referred to as "lane marking positions"). Here, lane markings refer to white or yellow lines marked on the surface of the road as roadway centerlines, lane boundaries, roadway outer boundaries, etc. If the lane marking position acquisition unit 61 is unable to recognize white or yellow lines based on the forward information, it recognizes road boundaries such as grass, soil, and curbs as lane markings and acquires their positions. The lane marking position acquisition unit 61 also calculates the curve radius of the lane in which the vehicle is currently traveling, based on the acquired lane marking position. The lane marking position acquisition unit 61 transmits information related to the lane marking positions and curve radius acquired based on the forward information to the driving condition recognition unit 62 and the deviation notification unit 63.

[0034] FIG. 2 is a plan view of the host vehicle 7 traveling in a driving lane 9. The lane marking position acquisition unit 61 acquires the positions of a right lane marking 91 that defines the right side of the lane 9 in which the host vehicle 7 is traveling in the direction of travel, and a left lane marking 92 that defines the left side of the lane 9 in which the host vehicle 7 is traveling in the direction of travel, based on forward information. Note that hereinafter, the lane marking on the inside of the host vehicle 7 when the host vehicle 7 is traveling on a curve, or on the tilting side of the host vehicle 7 when the host vehicle 7 is tilting (the right lane marking 91 in the example of FIG. 2), is referred to as an inner lane marking, and the lane marking on the opposite side of the host vehicle 7 from the inner lane marking (the left lane marking 92 in the example of FIG. 2) is referred to as an outer lane marking. Note that hereinafter, the positions of the inner lane marking and the outer lane marking acquired by the lane marking position acquisition unit 61 are referred to as the inner lane marking position and the outer lane marking position, respectively.

[0035] Returning to FIG. 1 , the driving state recognition unit 62 recognizes the driving state of the host vehicle, more specifically, whether the host vehicle is traveling on a curve or is leaning in the vehicle width direction. More specifically, the driving state recognition unit 62 recognizes that the host vehicle is traveling on a curve when, for example, the curve radius calculated by the lane marking position acquisition unit 61 is equal to or smaller than a predetermined radius threshold, and recognizes that the host vehicle is not traveling on a curve when the curve radius is greater than the radius threshold. Furthermore, the driving state recognition unit 62 recognizes that the host vehicle is leaning when, for example, the absolute value of the vehicle body inclination (i.e., the current vehicle body inclination with respect to the vehicle body in an upright position) calculated using the detection signal of the vehicle sensor unit 3 is equal to or larger than a predetermined inclination threshold, and recognizes that the host vehicle is not leaning when the absolute value of the vehicle body inclination is smaller than the inclination threshold. The recognition result by the driving state recognition unit 62 is transmitted to the departure notification unit 63.

[0036] The departure notification unit 63 notifies the driver that the vehicle has deviated from the lane in which the vehicle is traveling, at a timing determined based on the lane marking position acquired by the lane marking position acquisition unit 61 and the results of the determination of the vehicle's traveling state by the traveling state determination unit 62. Note that, hereinafter, the notification of the departure that the departure notification unit 63 gives to the driver is also referred to as a departure warning. Also, specific procedures for issuing a departure warning to the driver by the departure notification unit 63 will be described later with reference to Figures 3 to 12.

[0037] The departure notification unit 63 also issues a departure warning to the driver via the HMI 4. The specific manner in which the departure warning is issued by the departure notification unit 63 may be any manner that can be recognized by the driver. More specifically, the departure warning may be, for example, the display of a warning message on the display device of the HMI 4, the sound of a warning message from a speaker of the HMI 4, or the vibration of a vibrator provided on the handle grip.

[0038] Fig. 3 is a flowchart showing a specific procedure for lane departure prevention control by the driving assistance control device 6. The processing shown in Fig. 3 is repeatedly executed by the driving assistance control device 6 at a predetermined control cycle while a switch provided in the HMI 4 is turned on, that is, while the driver indicates his / her intention to turn on the lane departure prevention function. Note that each step shown in Fig. 3 is realized by the driving assistance control device 6 executing a computer program stored in a storage device (not shown) while the switch is turned on.

[0039] First, in step ST1, the departure notification unit 63 acquires the current traveling speed vector, yaw rate, vehicle body inclination, etc. of the vehicle by using the detection signal of the vehicle sensor unit 3, and then proceeds to step ST2.

[0040] Next, in step ST2, the lane marking position acquisition unit 61 determines the lane the vehicle is traveling in based on the forward information, acquires the lane marking positions of the left and right lane markings that demarcate the lane the vehicle is traveling in, and then proceeds to step ST3.

[0041] Next, in step ST3, the lane marking position acquisition unit 61 calculates the curve radius of the lane in which the vehicle is traveling, based on the lane marking position acquired in step ST2, and then the process proceeds to step ST4.

[0042] Next, in step ST4, the departure notification unit 63 determines whether the host vehicle is traveling around a curve or leaning based on the result of the travel state determination by the travel state determination unit 62. If the determination result in step ST4 is NO, that is, if the departure notification unit 63 determines that the host vehicle is not traveling around a curve or leaning, the departure notification unit 63 proceeds to step ST5. On the other hand, if the determination result in step ST4 is YES, that is, if the departure notification unit 63 determines that the host vehicle is traveling around a curve or leaning, the departure notification unit 63 proceeds to step ST6.

[0043] In step ST5, the departure notification unit 63 identifies a target lane marking and proceeds to step ST7. Here, the target lane marking refers to either the left lane marking or the right lane marking defined for the host vehicle's travel lane, which lane marking the host vehicle is currently deviating from or the lane marking from which the host vehicle is estimated to deviate in the future. In step ST5, the departure notification unit 63 identifies, based on the left lane marking position and the right lane marking position acquired in step ST2, the left lane marking or the right lane marking that is closer to the host vehicle in the vehicle width direction, as the target lane marking.

[0044] In step ST6, the departure notification unit 63 identifies the target lane marking and determines whether the target lane marking is an outer lane marking. More specifically, of the outer and inner lane marks defined for the lane in which the host vehicle is traveling while curved or leaning, the departure notification unit 63 identifies as the target lane marking the lane from which the host vehicle is currently deviating or the lane from which the host vehicle is estimated to deviate in the near future. In step ST6, the departure notification unit 63 calculates the traveling direction and traveling path of the host vehicle based on, for example, the traveling speed vector, yaw rate, vehicle body inclination, etc. acquired in step ST1, and identifies the target lane marking by comparing the traveling direction and traveling path with the outer lane marking position and inner lane marking position acquired in step ST2.

[0045] If the determination result in step ST6 is YES, i.e., if the target lane marking is an outer lane marking, the deviation notification unit 63 proceeds to step ST7. If the determination result in step ST6 is NO, i.e., if the target lane marking is an inner lane marking, the deviation notification unit 63 proceeds to step ST8.

[0046] In step ST6, the departure notification unit 63 executes a first warning process to issue a departure warning to the driver at a timing determined based on the relationship between the lane line position of the lane line identified as the target lane line and the first set position determined for the vehicle, and terminates the lane departure prevention control shown in Figure 3.

[0047] FIG. 4 is a flowchart showing a specific procedure of the first warning process. First, in step ST21, the departure notification unit 63 calculates the departure speed of the vehicle relative to the target lane marking, and then proceeds to step ST22. For example, the departure notification unit 63 calculates the component of the traveling speed vector acquired in step ST1 that is perpendicular to the target lane marking as the departure speed.

[0048] Next, in step ST22, the departure notification unit 63 determines whether the departure speed calculated in step ST21 is less than a predetermined speed threshold value. If the determination result in step ST22 is YES, the departure notification unit 63 proceeds to step ST23, and if the determination result is NO, the departure notification unit 63 proceeds to step ST24.

[0049] In step ST23, the departure notification unit 63 compares the positional relationship between the target lane marking position and a first set position determined for the vehicle based on a distance criterion, and issues a departure warning based on the comparison result based on this distance criterion. The procedure for comparing the target lane marking position with the first set position based on the distance criterion will now be described with reference to Figures 5A and 5B.

[0050] Figure 5A is a view of the vehicle 7 in an upright position as seen from the front in the direction of travel, and Figure 5B is a view of the vehicle 7 as seen from the front in the direction of travel while leaning toward the left lane marking 92. Figures 5A and 5B show the case where the right lane marking 91 is the target lane marking, out of the right lane marking 91 and the left lane marking 92. In the following, the target lane marking position is indicated by the symbol "PL0", and the first set position determined for the vehicle is indicated by the symbol "P1".

[0051] The departure notification unit 63 determines a first set position P1 at a portion of the front tires 71 of the host vehicle 7 that is closest to the target lane marking in a front view, and sets a first alarm setting point PL1 at a position offset from the target lane marking position PL0 toward the center of the lane 9 by a predetermined first offset distance Δ1 along the width direction of the lane 9. The departure notification unit 63 also determines whether a first projection point P1' obtained by projecting the first set position P1 vertically onto the road surface is outside the lane 9 of the first alarm setting point PL1. If the first projection point P1' is outside the lane 9 of the first alarm setting point PL1, the departure notification unit 63 determines that the host vehicle 7 has deviated from the lane 9 on the target lane marking side or is likely to deviate in the near future, and issues a departure alarm. Furthermore, if the first projection point P1' is closer to the center of the driving lane 9 than the first warning setting point PL1, the departure notification unit 63 determines that the vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0052] Returning to FIG. 4, in step ST24, the deviation notification unit 63 compares the positional relationship between the target lane marking position and the first set position described above based on a speed standard, and issues a deviation warning according to the comparison result based on this speed standard.

[0053] More specifically, the departure notification unit 63 calculates the product of the departure speed calculated in step ST21 and a predetermined time threshold as a second offset distance Δ2, and sets a second warning setting point PL2 at a position offset by the second offset distance Δ2 from the target lane marking position PL0 toward the center of the driving lane 9 along the width direction of the driving lane 9. Furthermore, if the first projection point P1' calculated using the same procedure as in step ST23 is located outside the driving lane 9 of the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has deviated from the driving lane 9 or is likely to deviate in the near future, and issues a departure warning. Furthermore, if the first projection point P1' is located closer to the center of the driving lane 9 than the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0054] As described above, when comparing the positional relationship between the target lane marking position and the set position determined for the vehicle 7 based on speed, it differs from when comparing based on distance in that the position of the warning set point determined based on the target lane marking position is changed according to the departure speed. By changing the position of the warning set point according to the departure speed in this way, it is possible to issue a departure warning at a timing according to the departure speed so as to ensure the driver has enough time to return the vehicle 7 to the center of the traveling lane 9.

[0055] Returning to FIG. 3, in step ST7, the departure notification unit 63 executes a curve-cutting driving determination process for determining whether or not a predetermined curve-cutting driving enabling condition is met, and then the process proceeds to step ST8.

[0056] Fig. 6 is a flowchart showing the specific steps of the curb-cutting driving determination process. The departure notification unit 63 determines whether the driver of the vehicle is in a state where he or she can perform curb-cutting driving around the inside lane marking that has been identified as the target lane marking by determining whether the curb-cutting driving enabling conditions shown in steps ST31 to ST33 in Fig. 6 are satisfied.

[0057] First, in step ST31, the deviation notification unit 63 determines whether or not the lane marking position acquisition unit 61 has recognized a white line, a yellow line, or the like on the road surface as an inner lane marking. If the determination result in step ST31 is NO, that is, if the lane marking position acquisition unit 61 has recognized a road boundary such as grass, soil, or a curb as an inner lane marking, the deviation notification unit 63 proceeds to step ST34. If the determination result in step ST31 is YES, the deviation notification unit 63 proceeds to step ST32.

[0058] In step ST32, the departure notification unit 63 determines whether the lane marking position acquisition unit 61 can acquire the positions of the inside lane markings up to a predetermined distance or more ahead from the current position of the vehicle. If the determination result in step ST32 is NO, that is, if the lane marking position acquisition unit 61 cannot acquire the positions of the inside lane markings up to a predetermined distance or more ahead, the departure notification unit 63 proceeds to step ST34. If the determination result in step ST32 is YES, the departure notification unit 63 proceeds to step ST33. Here, a case in which the lane marking position acquisition unit 61 cannot acquire the positions of the inside lane markings up to a predetermined distance or more ahead corresponds to, for example, a case in which the radius of the curve in the lane in which the vehicle is traveling is small and visibility is poor.

[0059] In step ST33, the departure notification unit 63 determines whether or not there are any objects (e.g., oncoming vehicles, adjacent vehicles, pedestrians, bicycles, and other objects) that may come into contact with the host vehicle in the area facing the host vehicle across the inner lane marking, based on the forward information acquired by the external recognition device 24. If the determination result in step ST33 is NO, that is, if there are any objects that may come into contact with the host vehicle in the area facing the host vehicle across the inner lane marking, the departure notification unit 63 proceeds to step ST34. If the determination result in step ST33 is YES, the departure notification unit 63 proceeds to step ST35.

[0060] As described above, if the determination result of at least one of steps ST31 to ST33 is NO, the departure notification unit 63 determines that the curve-cutting travel possible condition is not satisfied (see step ST34), and proceeds to step ST9 in FIG.

[0061] 3. If the determination results of all of steps ST31 to ST33 are YES, the departure notification unit 63 determines that the curve-cutting travel possible condition is met (see step ST35), and proceeds to step ST9 in FIG.

[0062] Returning to Figure 3, in step ST9, the departure notification unit 63 determines whether the curb-cutting driving enable conditions are met as a result of the curb-cutting driving determination process in Figure 6. If the determination result in step ST9 is NO, that is, if it is estimated that the driver of the host vehicle will not perform curb-cutting driving around the inside lane marking, the departure notification unit 63 proceeds to step ST10. In step ST10, the departure notification unit 63 executes a second warning process that issues a departure warning to the driver at a timing determined based on the relationship between the inside lane marking position of the inside lane marking identified as the target lane marking and a second set position determined for the host vehicle, and ends the lane departure prevention control shown in Figure 3.

[0063] FIG. 7 is a flowchart showing a specific procedure of the second warning process. First, in step ST51, the departure notification unit 63 calculates the departure speed with respect to the inside lane marking identified as the target lane marking by the same procedure as in step ST21 in FIG. 4, and then proceeds to step ST52.

[0064] Next, in step ST52, the departure notification unit 63 determines whether or not the departure speed calculated in step ST51 is less than the speed threshold defined in step ST22 of Fig. 4. If the determination result in step ST52 is YES, the departure notification unit 63 proceeds to step ST53, and if the determination result is NO, the departure notification unit 63 proceeds to step ST54.

[0065] In step ST53, the deviation notification unit 63 compares the positional relationship between the target lane marking position and a second set position determined for the vehicle based on a distance criterion, and issues a deviation warning based on the comparison result based on this distance criterion. The procedure for comparing the target lane marking position and the second set position based on the distance criterion will now be described with reference to FIG. 8.

[0066] Figure 8 is a view of the host vehicle 7 leaning toward the left lane marking 92, viewed from the front in the direction of travel. Note that Figure 8 shows the case where the left lane marking 92, which is on the leaning side of the host vehicle 7, is the target lane marking. In the following, the second set position determined for the host vehicle is indicated by the symbol "P2."

[0067] The departure notification unit 63 sets a second set position P2 on the rearview mirrors 72, 73 of the host vehicle 7 that are provided vertically above the first set position P1 and the front tires 71 for which the first set position P1 is determined. More specifically, the departure notification unit 63 sets the second set position P2 on the inner rearview mirror (left rearview mirror 73 in the example of FIG. 8) closest to the target lane marking (left lane marking 92 in the example of FIG. 8) of the two rearview mirrors 72, 73 provided on both sides of the vehicle width direction of the host vehicle 7. The departure notification unit 63 also sets a first warning set point PL1 at a position offset by a first offset distance Δ1 from the target lane marking position PL0 toward the center of the lane marking 9 along the width direction of the lane marking 9, similar to the example shown in FIGS. 5A and 5B . Furthermore, the departure notification unit 63 determines whether a second projection point P2' obtained by projecting the second set position P2 vertically onto the road surface is outside the driving lane 9 of the first warning setting point PL1. If the second projection point P2' is outside the driving lane 9 of the first warning setting point PL1, the departure notification unit 63 determines that the host vehicle 7 has deviated from the driving lane 9 on the target lane marking side or is likely to deviate in the near future, and issues a departure warning. On the other hand, if the second projection point P2' is closer to the center of the driving lane 9 of the first warning setting point PL1, the departure notification unit 63 determines that the host vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0068] Returning to FIG. 7, in step ST54, the deviation notification unit 63 compares the positional relationship between the target lane marking position and the second set position described above based on a speed standard, and issues a deviation warning according to the comparison result based on this speed standard.

[0069] More specifically, the departure notification unit 63 calculates the product of the departure speed calculated in step ST51 and a predetermined time threshold as a second offset distance Δ2, and sets a second warning setting point PL2 at a position offset by the second offset distance Δ2 from the target lane marking position PL0 toward the center of the driving lane 9 along the width direction of the driving lane 9. Furthermore, if the second projection point P2' calculated using the same procedure as in step ST53 is outside the driving lane 9 of the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has deviated from the driving lane 9 or is likely to deviate in the near future, and issues a departure warning. Furthermore, if the second projection point P2' is closer to the center of the driving lane 9 than the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0070] As described above, the first warning process issues a departure warning at a timing determined based on the positional relationship between the target lane marking position and the first set position, whereas the second warning process, which is performed when the vehicle is curving or leaning and the target lane marking is an inside lane marking, issues a departure warning at a timing determined based on the positional relationship between the target lane marking position and the second set position that is set vertically above the first set position. In this way, when the vehicle is curving or leaning, the departure warning is issued based on the positional relationship between the target lane marking position and the second set position that is closer to the target lane marking than the first set position, so that the departure warning can be issued at a timing based on the attitude of the vehicle 7 so that the driver has time to return the vehicle 7 to the center of the driving lane 9.

[0071] 3, if the determination result in step ST9 is YES, i.e., if it is estimated that the driver of the vehicle will likely attempt to cut the curb on the inside lane marking, the departure notification unit 63 proceeds to step ST11. In step ST11, the departure notification unit 63 executes a third warning process that issues a departure warning to the driver at a timing determined based on the relationship between the inside lane marking position of the inside lane marking identified as the target lane marking and a third set position determined for the vehicle, and then ends the lane departure prevention control shown in FIG.

[0072] FIG. 9 is a flowchart showing a specific procedure of a first example of the third warning process. First, in step ST61, the departure notification unit 63 calculates the departure speed from the inside lane marking identified as the target lane marking by the same procedure as in step ST21 in FIG. 4, and then proceeds to step ST62.

[0073] Next, in step ST62, the departure notification unit 63 determines whether or not the departure speed calculated in step ST61 is less than the speed threshold defined in step ST22 of Fig. 4. If the determination result in step ST62 is YES, the departure notification unit 63 proceeds to step ST63, and if the determination result is NO, the departure notification unit 63 proceeds to step ST64.

[0074] In step ST63, the deviation notification unit 63 compares the positional relationship between the target lane marking position and a third set position determined for the vehicle based on a distance criterion, and issues a deviation warning based on the comparison result based on this distance criterion. The procedure for comparing the target lane marking position with the third set position based on the distance criterion will now be described with reference to FIG. 10.

[0075] Figure 10 is a view of the host vehicle 7 leaning toward the left lane marking 92, viewed from the front in the direction of travel. Note that Figure 10 shows the case where the left lane marking 92, which is on the leaning side of the host vehicle 7, is the target lane marking. In the following, the third set position determined for the host vehicle is indicated by the symbol "P3."

[0076] The departure notification unit 63 sets a third set position P3 of the host vehicle 7 closer to the center of the driving lane 9 than the second set position P2. The following describes a case where the third set position P3 is set to a portion of the front tires 71 of the host vehicle 7 that is closest to the center of the driving lane 9, but the present invention is not limited to this. The third set position P3 may be set to any position closer to the center of the driving lane 9 than the second set position P2. Similarly to the example shown in FIGS. 5A and 5B , the departure notification unit 63 sets a first warning set point PL1 at a position offset from the target lane marking position PL0 toward the center of the driving lane 9 by a first offset distance Δ1 along the width direction of the driving lane 9. Furthermore, the departure notification unit 63 determines whether a third projection point P3′ obtained by projecting the third set position P3 vertically onto the road surface is outside the driving lane 9 of the first warning set point PL1. If the third projection point P3' is further outward from the driving lane 9 than the first warning setting point PL1, the departure notification unit 63 determines that the vehicle 7 has deviated from the driving lane 9 on the target lane marking side or is likely to deviate in the near future, and issues a departure warning. If the third projection point P3' is closer to the center of the driving lane 9 than the first warning setting point PL1, the departure notification unit 63 determines that the vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0077] Returning to FIG. 9, in step ST64, the deviation notification unit 63 compares the positional relationship between the target lane marking position and the above-mentioned third set position based on a speed standard, and issues a deviation warning according to the comparison result based on this speed standard.

[0078] More specifically, the departure notification unit 63 calculates the product of the departure speed calculated in step ST61 and a predetermined time threshold as a second offset distance Δ2, and sets a second warning setting point PL2 at a position offset by the second offset distance Δ2 from the target lane marking position PL0 toward the center of the driving lane 9 along the width direction of the driving lane 9. Furthermore, if the third projection point P3' calculated using the same procedure as in step ST63 is located outside the driving lane 9 of the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has deviated from the driving lane 9 or is likely to deviate in the near future, and issues a departure warning. Furthermore, if the third projection point P3' is located closer to the center of the driving lane 9 than the second warning setting point PL2, the departure notification unit 63 determines that the host vehicle 7 has not deviated from the driving lane 9 and is unlikely to deviate in the near future, and does not issue a departure warning.

[0079] As described above, the second warning process, which is executed when it is estimated that there is a low possibility of curb-cutting driving, issues a departure warning at a timing determined in accordance with the positional relationship between the target lane marking position and the second set position, whereas the third warning process, which is executed when it is estimated that there is a high possibility of curb-cutting driving, issues a departure warning at a timing determined in accordance with the positional relationship between the target lane marking position and the third set position, which is set closer to the center of the driving lane 9 than the second set position. In this way, when there is a high possibility of curb-cutting driving, the departure warning is issued in accordance with the positional relationship between the target lane marking position and the third set position, which is set in a position offset closer to the center of the driving lane 9 than the second set position. This makes it possible to prevent a departure warning from being issued even when the driver intentionally performs curb-cutting driving, thereby improving convenience.

[0080] Fig. 11 is a flowchart showing a specific procedure of a second example of the third warning process. Of the processes shown in Fig. 11, the processes of steps ST71 and ST72 are the same as the processes of steps ST61 and ST62 in Fig. 9, and therefore detailed description thereof will be omitted.

[0081] In step ST73, the departure notification unit 63 compares the positional relationship between the target lane marking position and the second set position determined for the vehicle based on a distance criterion, and issues a departure alarm according to the comparison result based on this distance criterion.

[0082] Figure 12 is a view of the host vehicle 7 leaning toward the left lane marking 92, viewed from the front in the direction of travel. Note that Figure 12 shows the case where the left lane marking 92, which is on the leaning side of the host vehicle 7, is the target lane marking. In the following, the third and fourth alarm setting points, which are determined based on the position of the target lane marking, are denoted by the symbols "PL3" and "PL4," respectively.

[0083] The departure notification unit 63 determines a second setting position P2 at the inner rearview mirror (left rearview mirror 73 in the example of FIG. 12) closest to the target lane marking (left lane marking 92 in the example of FIG. 12) of the two rearview mirrors 72, 73 provided on both sides of the host vehicle 7 in the vehicle width direction, using a procedure similar to that of the second warning processing in FIG. 8. The departure notification unit 63 also sets a first warning setting point PL1 based on the target lane marking position PL0 using a procedure similar to that of the second warning processing in FIG. 8. The departure notification unit 63 also sets a third warning setting point PL3 ​​at a position offset from the first warning setting point PL1 to the outside of the driving lane 9 by a third offset distance Δ3 along the width direction of the driving lane 9. The departure notification unit 63 also determines whether a second projection point P2' obtained by projecting the second setting position P2 vertically onto the road surface is further outside the driving lane 9 than the third warning setting point PL3. The departure notification unit 63 issues a departure warning when the second projection point P2' is located outside the driving lane 9 relative to the third warning setting point PL3. Moreover, the departure notification unit 63 does not issue a departure warning when the second projection point P2' is located closer to the center of the driving lane 9 than the third warning setting point PL3.

[0084] Returning to FIG. 11, in step ST74, the deviation notification unit 63 compares the positional relationship between the target lane marking position and the second set position described above based on a speed standard, and issues a deviation warning according to the comparison result based on this speed standard.

[0085] More specifically, the departure notification unit 63 sets a second warning setting point PL2 based on the target lane marking position PL0 using a procedure similar to that of the second warning process of FIG. 8 . The departure notification unit 63 also sets a fourth warning setting point PL4 at a position offset from the second warning setting point PL2 by a third offset distance Δ3 toward the outside of the driving lane 9 along the width direction of the driving lane 9. The departure notification unit 63 then determines whether a second projection point P2′, obtained by projecting the second setting position P2 vertically onto the road surface, is located further outside the driving lane 9 than the fourth warning setting point PL4. The departure notification unit 63 issues a departure warning when the second projection point P2′ is located further outside the driving lane 9 than the fourth warning setting point PL4. The departure notification unit 63 does not issue a departure warning when the second projection point P2′ is located closer to the center of the driving lane 9 than the fourth warning setting point PL4.

[0086] The driving assistance system 1 according to this embodiment has the following advantages. (1) In the driving assistance system 1, the lane marking position acquisition unit 61 acquires a target lane marking position PL0 based on forward information, and the departure notification unit 63 issues a departure warning regarding departure of the host vehicle 7 from the driving lane 9 at a timing determined based on the positional relationship between the acquired target lane marking position PL0 and set positions P1 to P3 determined for the host vehicle 7. If the host vehicle 7 is not recognized as being curved or leaning, i.e., if the body of the host vehicle 7 is upright, the departure notification unit 63 issues the departure warning at a timing determined based on the positional relationship between a first set position P1 determined for the front tires 71 located in the center of the host vehicle 7 in the vehicle width direction and the target lane marking position PL0. Furthermore, if the host vehicle 7 is recognized as being curved or leaning, i.e., if the body is leaning, the departure notification unit 63 issues the departure warning based on the relationship between a second set position P2 determined for the host vehicle 7 vertically above the first set position P1 and the target lane marking position PL0. If the vehicle body is tilted, the second set position P2 is offset toward the tilt side from the first set position P1 by an amount corresponding to the angle of tilt. In this way, the driving assistance system 1 issues a departure warning at a timing determined based on the positional relationship between the set positions P1, P2 and the target lane marking position PL0, which differs depending on whether the vehicle body is upright or tilted. This makes it possible to issue a departure warning to the driver at an appropriate timing corresponding to the posture of the vehicle body while driving, thereby improving traffic safety.

[0087] (2) When the vehicle is curving or leaning and has identified an inside lane marking as the target lane marking, the departure notification unit 63 issues a departure warning regarding departure toward the target lane marking in accordance with the positional relationship between the target lane marking position PL0 and second set position P2, which is closer to the target lane marking, of the first and second set positions P1, P2. When the vehicle is curving or leaning and has identified an outside lane marking as the target lane marking, the departure notification unit 63 issues a departure warning regarding departure toward the target lane marking in accordance with the positional relationship between the target lane marking position PL0 and first set position P1, which is closer to the target lane marking, of the first and second set positions P1, P2. This allows for notification regarding departure from the vehicle's lane 9 toward the inside or outside lane marking when the vehicle is curving or leaning, at appropriate timing depending on the vehicle's posture while traveling, thereby improving traffic safety.

[0088] (3) In the driving assistance system 1, the second set position P2 is set for the rearview mirror that is likely to be located furthest outward on the side of the vehicle leaning when the vehicle leans, and a departure warning is issued at a timing determined based on the positional relationship between this second set position P2 and the target lane marking position PL0. This allows the departure warning to be issued at an appropriate timing according to the posture of the vehicle while driving, thereby improving traffic safety.

[0089] (4) In the driving assistance system 1, a second set position P2 is set for the inner rearview mirror 72, 73, of the two rearview mirrors 72, 73 provided on both sides of the vehicle width direction, which is closest to the inner lane marking, and a deviation warning regarding deviation toward the target lane marking is issued at a timing determined according to the positional relationship between this second set position P2 and the target lane marking position PL0.This makes it possible to issue a deviation warning regarding deviation from the driving lane 9 of the vehicle 7 toward the target lane marking at an appropriate timing according to the posture of the vehicle body while driving, thereby improving traffic safety.

[0090] (5) Some motorcycle drivers engage in curb-cutting because they dislike the centrifugal force that causes their vehicle's travel path to veer outward while cornering. Such curb-cutting is often intentionally performed by the driver after checking the vehicle's surroundings. Therefore, issuing a departure warning when the driver intentionally performs or is about to perform a curb-cutting operation may be irritating to the driver. Therefore, when the vehicle is curving or leaning and an inside lane marking is identified as the target lane marking, the departure notification unit 63 determines whether the situation allows the motorcycle driver to intentionally perform a curb-cutting operation by determining whether a predetermined curb-cutting operation condition is met. If the departure notification unit 63 determines that the curb-cutting operation condition is not met and therefore that the driver is unlikely to intentionally perform a curb-cutting operation, it issues a departure warning based on the positional relationship between the first warning setting point PL1 or the second warning setting point PL2, which are determined according to the target lane marking position PL0, and the second setting position P2. Furthermore, when it is determined that the curb-cutting driving enable condition is satisfied and therefore that there is a high possibility that the driver will intentionally perform curb-cutting driving, the departure notification unit 63 issues a departure warning based on the positional relationship between the first warning setting point PL1 or the second warning setting point PL2 and a third setting position P3 that is set closer to the center of the driving lane 9 than the second setting position P2, the positional relationship between the third warning setting point PL3 ​​that is set further outward in the driving lane 9 than the first warning setting point PL1 and the second setting position P2, or the positional relationship between a fourth warning setting point P4 that is set further outward in the driving lane 9 than the second warning setting point PL2 and the second setting position P2. In other words, when the curb-cutting driving enable condition is satisfied, the departure notification unit 63 lengthens the distance between the setting position for the host vehicle 7 and the warning setting point for the target lane marking line compared to when the curb-cutting driving enable condition is not satisfied. This makes it possible to prevent excessive notifications from being sent to the driver even when the driver is intentionally performing curb-cutting driving, thereby improving traffic safety and convenience for the driver.

[0091] Although one embodiment of the present invention has been described above, the present invention is not limited to this, and the detailed configuration may be modified as appropriate within the scope of the spirit of the present invention. [Explanation of symbols]

[0092] 1. Driving assistance system 2...External sensor unit (forward information acquisition means) 21...Camera unit (image acquisition means) 3...Vehicle sensor unit 5...Navigation device (forward information acquisition means) 6...Driver assistance control device 61... lane marking position acquisition unit (lane marking position acquisition means) 62...Running condition grasping unit (grasping means) 63... Deviation notification unit (deviation notification means) 7...Your car 9...Travel lane 91...Right lane line (lane line) 92...Left lane line (lane line) PL0: Target lane line position PL1...1st alarm set point (normal alarm set point) PL2…2nd alarm set point (normal alarm set point) PL3: 3rd alarm set point (curve cut driving alarm set point) PL4: 4th alarm set point (curve cut driving alarm set point) P1…1st setting position P2…Second setting position P3...Third setting position

Claims

1. a forward information acquisition means for acquiring forward information relating to a state ahead of the vehicle; a lane marking position acquisition means for acquiring a lane marking position relative to the lane in which the vehicle is traveling based on the forward information; a deviation notification means for notifying the driver of a deviation of the vehicle from the driving lane based on a relationship between the lane marking position and a set position determined for the vehicle; a recognition means for recognizing that the host vehicle is traveling on a curve or is leaning in a vehicle width direction, The deviation notification means calculating a departure speed, which is a component of the traveling speed vector of the vehicle that is perpendicular to the lane marking; If it is not determined that the vehicle is traveling on a curve or is leaning, a notification is given based on the relationship between an alarm setting point set at a position offset from the lane marking position toward the center of the traveling lane by an offset distance proportional to the departure speed and a first setting position set on a tire of the vehicle; A motorcycle driving assistance system characterized in that, when it is determined that the vehicle is traveling on a curve or leaning, a notification is given based on the relationship between the warning setting point and a second setting position of the vehicle that is set vertically above the first setting position.

2. A forward information acquisition means for acquiring forward information relating to the state ahead of the vehicle; a lane marking position acquisition means for acquiring a lane marking position relative to the lane in which the vehicle is traveling based on the forward information; a deviation notification means for notifying the driver of a deviation of the vehicle from the driving lane based on a relationship between the lane marking position and a set position determined for the vehicle; a recognition means for recognizing that the host vehicle is traveling on a curve or is leaning in a vehicle width direction, The deviation notification means If it is not recognized that the vehicle is traveling on a curve or is leaning, a notification is made based on a relationship between the position of the lane marking and a first set position determined for a tire of the vehicle; When it is determined that the vehicle is traveling on the curve or leaning, a notification is made based on a relationship between the lane marking position and a second set position of the vehicle that is determined vertically above the first set position, the lane marking position acquisition means acquires, as an inner lane marking position, a position of an inner lane marking on the inside of the vehicle while traveling on the curve or on the inclined side while traveling on the inclined side, and acquires, as an outer lane marking position, a position of an outer lane marking on the opposite side of the vehicle from the inner lane marking, the deviation notification means issues a notification regarding deviation toward the inside lane line in accordance with the relationship between the inside lane line position and the second set position, and issues a notification regarding deviation toward the outside lane line in accordance with the relationship between the outside lane line position and the first set position.

3. A forward information acquisition means for acquiring forward information regarding the state ahead of the vehicle; a lane marking position acquisition means for acquiring a lane marking position relative to the lane in which the vehicle is traveling based on the forward information; a deviation notification means for notifying the driver of a deviation of the vehicle from the driving lane based on a relationship between the lane marking position and a set position determined for the vehicle; a recognition means for recognizing that the host vehicle is traveling on a curve or is leaning in a vehicle width direction, The deviation notification means If it is not recognized that the vehicle is traveling on a curve or is leaning, a notification is made based on a relationship between the position of the lane marking and a first set position determined for a tire of the vehicle; When it is determined that the vehicle is traveling on the curve or leaning, a notification is made based on a relationship between the lane marking position and a second set position of the vehicle that is determined vertically above the first set position, A motorcycle driving assistance system, characterized in that the second set position is determined with respect to a rearview mirror of the vehicle.

4. 3. The motorcycle driving assistance system according to claim 2, wherein the second setting position is determined for the inner rearview mirror on the inner lane line side of the two rearview mirrors provided on both sides of the vehicle in the vehicle width direction.

5. A forward information acquisition means for acquiring forward information relating to the state ahead of the vehicle; a lane marking position acquisition means for acquiring a lane marking position relative to the lane in which the vehicle is traveling based on the forward information; a deviation notification means for notifying the driver of a deviation of the vehicle from the driving lane based on a relationship between the lane marking position and a set position determined for the vehicle; a recognition means for recognizing that the host vehicle is traveling on a curve or is leaning in a vehicle width direction, The deviation notification means If it is not recognized that the vehicle is traveling on a curve or is leaning, a notification is made based on a relationship between the position of the lane marking and a first set position determined for a tire of the vehicle; When it is determined that the vehicle is traveling on the curve or leaning, a notification is made based on a relationship between the lane marking position and a second set position of the vehicle that is determined vertically above the first set position, The deviation notification means When it is determined that the vehicle is traveling on the curve or is leaning and the curve-cutting travel possible condition is not satisfied, a notification is given based on the relationship between the normal alarm setting point determined according to the lane marking position and the second setting position; When it is recognized that the vehicle is traveling around a curve or leaning and the condition for enabling curb-cutting travel is satisfied, a notification is given based on a relationship between the normal warning setting point and a third set position that is set closer to the center of the travel lane than the second set position, or a relationship between the second set position and a curb-cutting travel warning setting point that is set closer to the outside of the travel lane than the normal warning setting point, the forward information acquisition means includes image acquisition means for acquiring image information of a forward area of ​​the host vehicle, The conditions for enabling curve-cutting are that the position of an inside lane marking on the inside of the curve or on the inclined side of the curve can be acquired up to a predetermined distance or more from the vehicle, and that no object that may come into contact with the vehicle exists in the area facing the vehicle across the inside lane marking.

Images