vehicle-mounted device

Abstract

To provide a piece of onboard equipment capable of alerting concerning safe driving to a crew member based on a line different from a lot line.SOLUTION: An onboard equipment 2 includes: an acquisition unit that acquires an image picked up in the front direction of the vehicle from a camera 33 mounted on a vehicle 100; a discrimination unit that detects lines 40 and 50 along the traveling direction of the travel from the image and determines line type of the lines based on line color; a generation unit that generates an alert regarding safe driving to a vehicle crew based on the position of the lines relative to the vehicle; and an alarm unit that outputs an alarm. The discrimination unit discriminates whether the line is a first type line 40 that has a color indicating lane marking or the line is a second type of line 50 that has a different color than the color indicating the lot line. The generation unit is configured to generate a first warning based on the relative position of the first type of line 40 to the vehicle and to generate a second warning that differs from the first line based on the relative position of the second type of line 50 with respect to the vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an in-vehicle device.

Background Art

[0002] Conventionally, there is a technology for warning of deviation from a lane. In Patent Document 1, there are provided a white line recognition means for recognizing the position of a white line that defines a traveling lane with respect to the position of the host vehicle, a deviation determination means for determining deviation of the host vehicle, and an alarm means for alarming the deviation when it is determined that there is deviation of the host vehicle. A lane departure warning device is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in a lane, a line different from a dividing line indicating the boundary of the lane may be arranged. For example, there is a road in which a line for guiding a vehicle is provided inside the lane rather than the boundary line. If it is possible to effectively use a line different from the dividing line to alert the crew, it is desirable in terms of improving the safety of vehicle operation.

[0005] An object of the present invention is to provide an in-vehicle device capable of alerting a crew about safe driving based on a line different from a dividing line.

Means for Solving the Problems

[0006] The in-vehicle device of the present invention comprises: an acquisition unit that acquires an image of the area in front of the vehicle from a camera mounted on the vehicle; a discrimination unit that detects a line along the direction of travel of the vehicle from the image and determines the type of line based on the color of the line; a generation unit that generates a warning regarding safe driving to the occupant of the vehicle based on the relative position of the line with respect to the vehicle; and an alarm unit that outputs the warning. The discrimination unit determines whether the line is a first type of line having a color indicating a lane marking or a second type of line having a color different from the color indicating a lane marking; the generation unit generates a first warning based on the relative position of the first type of line with respect to the vehicle; and the generation unit generates a second warning different from the first warning based on the relative position of the second type of line with respect to the vehicle. [Effects of the Invention]

[0007] The generation unit of the in-vehicle device according to the present invention generates a first warning based on the relative position of a first type of line with respect to the vehicle, and generates a second warning different from the first warning based on the relative position of a second type of line with respect to the vehicle. The first type of line is a line having a color that indicates the lane markings, and the second type of line is a line having a color different from the color that indicates the lane markings. The in-vehicle device according to the present invention has the effect of being able to alert the driver to safe driving based on a line different from the lane markings. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows the operation evaluation system of this embodiment. [Figure 2] Figure 2 shows a diagram of lanes with the first type of line and the second type of line. [Figure 3] Figure 3 shows a diagram of lanes with the first type of line and the second type of line. [Figure 4] Figure 4 shows a diagram of lanes having the first type of line and the second type of line. [Figure 5] Figure 5 is a diagram illustrating the warning against crossing the line. [Figure 6] Figure 6 illustrates the permissible overshooting of the lane. [Figure 7] Figure 7 is a diagram illustrating a warning about a no-passing zone. [Figure 8] Figure 8 shows an example of obstacle avoidance. [Figure 9] Figure 9 is a diagram illustrating the prohibition of lane changes. [Figure 10] Figure 10 is a diagram illustrating the prohibition of lane changes. [Figure 11] Figure 11 is a diagram illustrating the warning of dizziness. [Figure 12] Figure 12 is a diagram illustrating the warnings about riding while straddling a vehicle. [Figure 13] Figure 13 is a flowchart showing the operation of this embodiment. [Figure 14] Figure 14 is a flowchart showing the operation of this embodiment. [Figure 15] Figure 15 is a flowchart showing the operation of this embodiment. [Figure 16] Figure 16 is a flowchart showing the operation of this embodiment. [Figure 17] Figure 17 is a flowchart showing the operation of this embodiment. [Figure 18] Figure 18 is a flowchart showing the operation of this embodiment. [Modes for carrying out the invention]

[0009] The in-vehicle devices according to embodiments of the present invention will be described in detail below with reference to the drawings. However, the present invention is not limited to these embodiments. Furthermore, the components in the following embodiments include those that are easily conceivable by those skilled in the art or that are substantially identical.

[0010] [Embodiment] Embodiments will be described with reference to FIGS. 1 to 18. This embodiment relates to an in-vehicle device. FIG. 1 is a diagram showing the driving evaluation system of this embodiment, FIGS. 2 to 4 are diagrams showing lanes having a first type of line and a second type of line, FIG. 5 is a diagram for explaining a warning against overhang, FIG . 6 is a diagram for explaining allowable overhang driving, FIG. 7 is a diagram for explaining a warning against overtaking, FIG. 8 is a diagram showing avoidance of an obstacle, and FIGS. 9 and 10 are diagrams for explaining prohibition of lane change.

[0011] FIG. 11 is a diagram for explaining a warning of wobbling, FIG. 12 is a diagram for explaining a warning of straddling driving, and FIGS. 13 to 18 are flowcharts showing the operation of this embodiment.

[0012] The driving evaluation system 1 of this embodiment shown in FIG. 1 is a system for managing the operation of the vehicle 100. The driving evaluation system 1 is introduced, for example, as equipment of an operator such as a goods trucking business or a passenger car transportation business. The driving evaluation system 1 operates according to an operation management program for vehicles. The driving evaluation system 1 includes an in-vehicle device 2, a server 6, and an office PC 7.

[0013] The office PC 7 is composed of, for example, a general-purpose computer device installed in the office of a transportation operator. The office PC 7 has a function of evaluating the driving of the crew in each vehicle to be managed. The driving evaluation function includes a function of calculating a score for the crew regarding safe driving, and a function of generating feedback data for promoting safe driving.

[0014] The office PC 7 has a CPU 70, a communication unit 71, a non-volatile memory 72, a volatile memory 73, and an external input interface 74. The office PC 7 communicates with the server 6 and the radio base station 5 via the communication unit 71 and the Internet network NW, respectively. The office PC 7 executes operation status management and driving evaluation, for example, according to a program read from the non-volatile memory 72 by the CPU 70.

[0015] Server 6 is implemented by computer equipment such as a workstation. Server 6 may be a server located anywhere on the internet, or a server located on a local network within a company. Server 6 may be located in a data center that provides communication services. Server 6 stores information regarding the operating status of vehicles, warning events related to safe driving, and cautionary events related to safe driving. In the following description, warning events related to safe driving will be simply referred to as "warning events," and cautionary events related to safe driving will be simply referred to as "cautionary events."

[0016] The wireless base station 5 is a base station that performs wide-area wireless communication. The wireless base station 5 is, for example, equipment of a telecommunications carrier that provides mobile wireless communication services. The in-vehicle unit 2 communicates wirelessly with the wireless base station 5.

[0017] The on-board unit 2 is a device mounted on the vehicle 100 and records operational data including the vehicle's entry and exit from depots and driving information. The on-board unit 2 is, for example, a digital tachograph, drive recorder, taxi meter, etc., that records the operational status of the vehicle 100. Figure 1 shows the configuration of a digital tachograph as an example of the configuration of the on-board unit 2. The on-board unit 2 has an on-board unit body 2A and peripheral devices connected to the on-board unit body 2A. The on-board unit body 2A has a speed interface 21, an engine interface 22, a GPS receiver 23, an analog interface 24, an external input interface 25, a wide-area communication unit 26, a non-volatile memory 27, a volatile memory 28, a card interface 29, a switch 30, and a display unit 31. The peripheral devices have a handy keypad 32 and an antenna 34. The peripheral devices may further include a camera 33.

[0018] Vehicle 100 is equipped with a camera 33. The camera 33 captures images of the area in front of vehicle 100 and generates images. The camera 33 is positioned to capture images of the road surface in front of vehicle 100. More specifically, the camera 33 is positioned to capture images of at least the lane in which vehicle 100 is traveling, and the various lines provided on the lane. The camera 33 in this embodiment generates a color image that can distinguish the color of the lines provided on the road surface. The camera 33 may also be a camera that captures video. The in-vehicle unit 2 acquires images from the camera 33 via the external input interface 25.

[0019] The speed interface 21 acquires the vehicle speed 100 and outputs it to the CPU 20. The engine interface 22 acquires the rotational speed of the engine mounted on the vehicle 100 and outputs it to the CPU 20. The GPS receiver 23 is a receiving circuit including a GPS antenna. The GPS receiver 23 receives signals transmitted from GPS satellites and calculates the current position of the vehicle 100. The GPS receiver 23 outputs the calculated current position information to the CPU 20. The analog interface 24 is connected to sensors that detect the state of the vehicle 100. The analog interface 24 is connected to, for example, a sensor that detects engine temperature or a sensor that detects fuel level. Various external devices are connected to the external input interface 25. The external input interface 25 may have a connector to which a camera 33 is connected or a connector to which a handy keypad 32 is connected.

[0020] The wide-area communication unit 26 is a communication module that communicates with the wireless base station 5. The wide-area communication unit 26 communicates wirelessly with the wireless base station 5 via the antenna 34 according to the commands of the CPU 20. The non-volatile memory 27 stores processing programs and various data executed by the CPU 20. The volatile memory 28 is a memory that stores, for example, the calculation results of the CPU 20. The card interface 29 is, for example, a slot into which a memory card is inserted and removed. When a crew member boards the vehicle 100, they insert their memory card into the card interface 29. The memory card inserted into the card interface 29 records data such as the vehicle code of the vehicle 100, crew code, operating status, warning events, and cautionary events.

[0021] Switch 30 accepts operational input from the crew. Display unit 31 is a display device such as an LCD (Liquid Crystal Display). In response to commands from the CPU 20, the display unit 31 displays the operating status, communication status, time, operating status, cautions, warnings, fault information, etc. of the in-vehicle unit 2. In addition to displaying visual information, the display unit 31 has a speaker that outputs voice and buzzer. In this embodiment, the display unit 31 functions as an alarm unit that outputs warnings to the crew regarding safe driving.

[0022] The handheld keypad 32 is a terminal for remotely controlling the in-vehicle unit 2A. The handheld keypad 32 is connected, for example, to the external input interface 25. The handheld keypad 32 is equipped with a numeric keypad, a directional pad, and various buttons. The crew can issue commands to the in-vehicle unit 2A by inputting commands to the handheld keypad 32. The antenna 34 transmits and receives radio waves in the frequency band used for wide-area wireless communication.

[0023] The CPU 20 has a discrimination function 20A, a generation function 20B, and a transmission function 20C. The discrimination function 20A is an example of a discrimination unit that determines the type of line detected from an image. The generation function 20B is an example of a generation unit that generates warnings related to safe driving. The transmission function 20C is an example of a transmission unit that transmits warning events. The discrimination function 20A, the generation function 20B, and the transmission function 20C are implemented by a program read into the CPU 20 from the non-volatile memory 27.

[0024] The discrimination function 20A distinguishes at least two types of lines from the image acquired from the camera 33. The image acquired from the camera 33 is an image of the road surface in front of the vehicle 100. The discrimination function 20A detects lines in the direction of travel of the vehicle 100 from the acquired image. In the following description, lines detected from the image that are in the direction of travel of the vehicle 100 will be simply referred to as "detected lines". Based on the color of the detected lines, the discrimination function 20A determines whether the detected lines are first-type lines 40 or second-type lines 50. The method for detecting the color of the detected lines is, for example, a method based on the RGB values ​​or HSV values ​​of the image.

[0025] The first type of line 40 is a line of a color that indicates the lane markings. The color of the lane markings is, for example, a color specified by law. In Japan, the colors used to indicate lane markings are, for example, white and yellow. The second type of line 50 is a line of a different color from the color used to indicate the lane markings.

[0026] Here, the second type of line 50 of this embodiment will be described. Figure 2 shows a lane 200 on which the first type of line 40 and the second type of line 50 are arranged. The first type of line 40 and the second type of line 50 are arranged at the boundaries on both sides of the lane 200. The color of the first type of line 40 is a color specified by law as the color for indicating lane markings. Lane markings are lines that indicate the boundaries of lanes. Lane markings indicate, for example, the boundary between one lane and another, or the boundary between a lane and a sidewalk.

[0027] The second type of line 50 has a different color from the color indicating the lane markings. The second type of line 50 is provided, for example, on an expressway to guide vehicles onto the correct lane. In this case, the second type of line 50 is provided, for example, to prevent mistakes or wrong-way driving. The second type of line 50 is provided, for example, as an auxiliary line to guide construction vehicles. The second type of line 50 shown in Figure 2 is a continuous solid line and has the same width as the first type of line 40.

[0028] Figure 3 shows a second type of line 50, drawn as a dashed line. The second type of line 50 shown in Figure 3 is a discontinuous line and has a wider width than the first type of line 40. The second type of line 50 shown in Figure 3 is provided, for example, to guide vehicles into a driving lane.

[0029] Figure 4 shows a second type of line 50, drawn to resemble a three-dimensional object. The second type of line 50 in Figure 4 is actually a line drawn on the road surface, extending along the direction of travel of the vehicle 100. The second type of line 50 in Figure 4 is a drawing that imitates a block and is provided to control speed.

[0030] The second type of line 50 is drawn in a different color from the color indicating the lane markings. The in-vehicle device 2 of this embodiment determines that a line of a pre-registered color is the second type of line 50. Registered colors include, for example, blue, red, and green. However, the registered colors are not limited to these colors.

[0031] The generation function 20B generates a safe driving warning for the occupant of the vehicle 100 based on the relative position of the detected line to the vehicle 100. In this embodiment, the generation function 20B generates either a first or second warning depending on the type of line detected. The first warning is a warning generated based on a first type of line 40. The first warning is, for example, a warning for driving in violation of traffic laws or driving that could lead to traffic violations. The second warning is, for example, a warning for driving that could lead to accidents or driving that could induce accidents.

[0032] The first warning will be explained with reference to Figures 5 to 9. Figure 5 shows vehicle 100 attempting to overtake another vehicle 110. The lane 200 in which vehicle 100 is traveling is marked with a first type of line 40. Both of the first type of lines 40 located at both ends of lane 200 are solid white lines 41. The first type of line 40 to the right of vehicle 100 is the center line. In this case, it is prohibited to drive beyond the center line, as indicated by arrow AR1. If the onboard unit 2 detects driving beyond the center line, it outputs the first warning to the driver.

[0033] In the lane 200 shown in Figure 6, a white dashed line 42 is placed as the center line. In this case, driving outside the center line is permitted. If the first type of line 40 is a white dashed line 42, the in-vehicle unit 2 does not output a first warning to the driver even if driving outside the center line is detected.

[0034] In Figure 7, lane 200 has a solid yellow line 43 as the center line. In this case, it is prohibited to drive across the center line to overtake, as indicated by arrow AR2. If the onboard unit 2 detects driving across the center line to overtake, it outputs a first warning to the driver.

[0035] Figure 8 shows a vehicle 100 traveling while avoiding an obstacle 120. The center line is a solid yellow line 43. The obstacle 120 is, for example, another stationary vehicle. In this case, it is permissible to travel beyond the center line to avoid the obstacle. The onboard device 2 does not output a first warning to the crew even if it detects that the vehicle is traveling beyond the center line to avoid the obstacle 120.

[0036] Figure 9 shows a road with multiple lanes 200 all traveling in the same direction. The lane boundaries are marked with solid white lines 41, dashed white lines 42, or solid yellow lines 43. In this case, changing lanes beyond the solid yellow line 43 is prohibited. Also, crossing the solid yellow line 43 to overtake is prohibited. If the onboard unit 2 detects a lane crossing indicated by arrows AR3 and AR4, it outputs a first warning to the driver.

[0037] Figure 10 shows a road with two lanes 200 sharing the same direction of travel. A white dashed line 42 and a yellow solid line 43 are placed side by side at the boundary between the two lanes 200. The white dashed line 42 is positioned to the left of the yellow solid line 43. In this case, changing lanes from the right lane 200 to the left lane 200 is prohibited. The in-vehicle device 2 outputs a first warning to the driver if it detects a lane departure indicated by arrow AR5.

[0038] Figure 11 shows the vehicle 100 swaying. Swaying is a type of driving where the vehicle sways from side to side within the lane 200. When the onboard unit 2 detects swaying, as indicated by arrow AR6, it outputs a first warning to the driver.

[0039] In this embodiment, the in-vehicle unit 2 records a warning event when it outputs a first warning. The warning event data includes the time of occurrence, location of occurrence, content of the first warning, crew code, etc. The in-vehicle unit 2, for example, records the warning event to a memory card and transmits the warning event to the wireless base station 5.

[0040] Next, the second type of warning will be explained. The second type of warning is a warning generated based on the second type of line 50. The second type of warning is, for example, a warning to the crew to encourage safer driving, or a warning to the crew if the vehicle 100 exhibits unstable behavior.

[0041] Figure 12 shows an example of a scenario in which a second warning is issued. Vehicle 100 is traveling inside the lane markings of lane 200, but outside the second type of line 50. In other words, vehicle 100 is traveling across the second type of line 50. The onboard unit 2 issues a second warning to the driver when vehicle 100 travels across the second type of line 50.

[0042] The onboard unit 2 outputs a second warning to the driver when the vehicle 100 approaches the second type of line 50. Furthermore, the onboard unit 2 outputs a second warning to the driver if erratic driving is detected inside the second type of line 50. For example, in the lane 200 shown in Figure 12, if the vehicle 100 drives erratically between the two second type of lines 50, a second warning will be output.

[0043] The second warning is less threatening to the crew compared to the first warning. For example, if vehicle 100 crosses a line, the level of warning differs depending on the type of line. As shown in Figure 12, if vehicle 100 crosses a second type line 50 but not a first type line 40, the second warning is issued. In this case, a weaker warning is given to the crew to prevent vehicle 100 from deviating from lane 200. The second voice warning is a message such as, "You are driving outside the auxiliary line. Please be careful."

[0044] On the other hand, if vehicle 100 drives across a solid white line 41 or a solid yellow line 43, a strong warning is output by the first warning system. The first voice warning may be a message such as, "You are outside your lane. Return to your lane immediately," or "This is dangerous driving. Do not drive outside your lane." The first voice warning may also be a message indicating that the driver has engaged in driving that will result in a deduction in their performance evaluation. In other words, the first warning is a stronger warning to the driver than the second warning. Therefore, the in-vehicle device 2 of this embodiment can output appropriate types of warnings and alerts to the driver.

[0045] The display unit 31 may output a first warning and a second warning using a buzzer or the like. In this case, the buzzer sound for the first warning is stronger than the buzzer sound for the second warning. The difference in warning intensity may be, for example, a difference in the pitch of the buzzer sound, a difference in the period of the buzzer sound, a difference in the volume of the buzzer sound, or other differences. The output type may differ between the first warning and the second warning. For example, if the first warning is output as an audio message, the second warning may be output as a buzzer sound.

[0046] The first and second warnings may be induced by light or images. In this case, the light or image of the first warning is more threatening than the light or image of the second warning. The difference in warning intensity may be, for example, a difference in color, a difference in flashing cycle, a difference in brightness, or other differences.

[0047] In this embodiment, the in-vehicle unit 2 records a warning event when it outputs a second warning. The data of the warning event includes the time of occurrence, location of occurrence, content of the second warning, crew code, etc. The in-vehicle unit 2 records the warning event to a memory card, for example. The in-vehicle unit 2 may also transmit the warning event to the wireless base station 5.

[0048] The in-vehicle unit 2 is configured to output a warning based on the first type of line 40. The warning based on the first type of line 40 is output, for example, when a vehicle 100 approaches the first type of line 40. When a warning is output, a warning event occurs. The in-vehicle unit 2 records the warning event based on the first type of line 40 to a memory card.

[0049] Operation data, warning events, and alert events received by the wireless base station 5 are stored in the server 6. The server 6 has a CPU 60, a communication unit 61, a non-volatile memory 62, a volatile memory 63, and an external input interface 64. The CPU 60 stores each data transmitted by the vehicle 100 in the non-volatile memory 62 or a storage disk device.

[0050] The operation of the in-vehicle device 2 according to the embodiment will be described with reference to the flowcharts in Figures 13 to 18. The flowchart shown in Figure 13 is executed when the vehicle 100 starts running. This flowchart may be executed repeatedly when the ignition of the vehicle 100 is ON.

[0051] In step S10, the in-vehicle device 2 reads the setting values. More specifically, the setting values ​​recorded in the non-volatile memory 27, etc., are read by the CPU 20. The setting values ​​read include a setting value for whether or not to perform a judgment based on the second type of line 50, the color of the line to be identified as the second type of line 50, a threshold Wt for the line width, an upper limit Nt for proximity judgment, and a judgment value for the wobble warning. When step S10 is executed, the process proceeds to step S20.

[0052] In step S20, the CPU 20 acquires image data from the camera 33. For example, the CPU 20 acquires the most recent image captured by the camera 33. Once step S20 is executed, the process proceeds to step S30.

[0053] In step S30, the CPU 20 determines whether it has detected a line from the image acquired in step S20. The CPU 20's discrimination function 20A detects lines from the image by image recognition. The discrimination function 20A detects lines based on, for example, the brightness component of the image. The detected lines are those that follow the direction of travel of the vehicle 100. The discrimination function 20A determines the shape of the line by curve approximation. The discrimination function 20A can also detect multiple lines from the image. If the CPU 20 determines that it has detected a line from the image, it proceeds to step S40; otherwise, it proceeds to step S20.

[0054] In step S40, the CPU 20 determines whether there is one detected line. If the determination in step S40 is positive, the process proceeds to step S50; otherwise, the process proceeds to step S510 in flowchart FL5 (Figure 17).

[0055] In step S50, the CPU 20 determines the color of the detected line. If the line color is white or yellow, the process proceeds to step S60. If the line color is neither white nor yellow, and is a set color, the process proceeds to step S310 of flowchart FL3 (Figure 15). The set color is the color read in step S10 and is the color of the line identified as the second type of line 50. If the line color is any other color, the flowchart ends. Any other color is a color that is different from both white and yellow, and also different from the set color.

[0056] In step S60, the CPU 20 determines whether the thickness of the detected line is less than the threshold Wt. This threshold Wt is a value used to extract reference lines for overhangs and deviations. The threshold Wt is set so that legal lane markings and lines with a thickness close to those markings can be extracted. Lines with a thickness greater than or equal to the threshold Wt are excluded from the reference line selection. For example, if the entire road surface is colored, even if this colored area is detected as a line, it will be rejected in step S60. If the result of the determination in step S60 is positive, determining that the line thickness is less than the threshold Wt, the process proceeds to step S70; otherwise, the flowchart ends.

[0057] In step S70, the CPU 20 calculates the relative distance. This relative distance is the relative distance between the detected line and the vehicle 100, and is also the distance in the width direction of the lane 200. For example, the CPU 20 calculates the distance from the edge of the vehicle 100 in the width direction to the detected line. If lines are detected on the left and right sides of the vehicle 100, it is preferable for the CPU 20 to calculate the relative distance to the line closer to the vehicle 100. After step S70 is executed, the process proceeds to step S80.

[0058] In step S80, the CPU 20 determines whether the vehicle 100 is close to the detected line. The CPU 20 makes the determination in step S80 based on the upper limit value Nt for proximity determination read in step S10. If the relative distance calculated in step S70 is smaller than the upper limit value Nt for proximity determination, a positive determination is made in step S80. Note that the relative distance may be a negative value. For example, if the vehicle 100 is outside the detected line, the relative distance may be a negative value. If the determination in step S80 is positive, the process proceeds to step S90; otherwise, the flowchart ends.

[0059] In step S90, the CPU 20 determines the shape of the detected line. The discrimination function 20A determines the shape of the line based, for example, on the brightness distribution along the direction of the line's extension. If the detected line is a white dashed line 42, proceed to step S100. If the detected line is a yellow solid line 43, proceed to step S110. If the detected line is a white solid line 41, proceed to step S210 of flowchart FL2 (Figure 14).

[0060] In step S100, the CPU 20 determines whether the turn signal of vehicle 100 is ON. If the turn signal is ON, it is assumed that the driver of vehicle 100 is about to change lanes. The CPU 20 makes the determination in step S100, for example, based on the turn signal. If the determination in step S100 is positive, the flowchart ends; otherwise, the process proceeds to step S210 of flowchart FL2.

[0061] In step S110, the CPU 20 determines whether the turn signal of vehicle 100 is ON. If the result is positive, the process proceeds to step S120; otherwise, the process proceeds to step S210 of flowchart FL2.

[0062] In step S120, the CPU 20 determines whether it is an overtaking maneuver. The CPU 20 checks if there is another vehicle 110 ahead of vehicle 100. If the CPU 20 detects another vehicle 110 by image recognition, it further determines whether the other vehicle 110 is in motion. Whether or not the other vehicle 110 is in motion can be determined based on multiple images acquired from camera 33. If the CPU 20 detects another vehicle 110 ahead and the other vehicle 110 is in motion, it determines that vehicle 100 is attempting to overtake the other vehicle 110. If the determination in step S120 is positive, it proceeds to step S130; otherwise, it proceeds to step S210 of flowchart FL2.

[0063] In step S130, the CPU 20 outputs a warning that passing is prohibited. This warning is one of the first warnings. The CPU 20 generates the first warning to be output from the display unit 31. The method of warning the crew may be by voice, by a buzzer or other sound, by a lamp or other light, by an image displayed on the display unit 31, or a combination of these. The CPU 20 outputs the generated warning that passing is prohibited from the display unit 31. Once step S130 is executed, the process proceeds to step S140.

[0064] In step S140, the CPU 20 records a warning event to the memory card. The CPU 20 may also transmit a no-passing warning event to the wireless base station 5. Once step S140 is executed, the process proceeds to step S210 of flowchart FL2.

[0065] The flowchart FL2 in Figure 14 relates to warnings or cautions based on legal lane markings. In step S210, the CPU 20 determines whether the vehicle 100 has deviated from the lane 200. The determination in step S210 is made, for example, based on the relative distance calculated in step S70. If the determination in step S210 is positive, the process proceeds to step S220; otherwise, the process proceeds to step S280.

[0066] In step S220, the CPU 20 outputs an overhang warning. The overhang warning in step S220 is one of the first warnings. The CPU 20 generates the first warning to be output from the display unit 31. The CPU 20 outputs the generated overhang warning from the display unit 31. Furthermore, the CPU 20 records the overhang warning event to the memory card. The CPU 20 may also transmit the overhang warning event to the wireless base station 5. When step S220 is executed, the process proceeds to step S230.

[0067] In step S230, the CPU 20 determines whether the lane departure is continuing. The CPU 20 makes the determination in step S230 based, for example, on a lane departure flag or the duration of the lane departure. The lane departure flag indicates whether or not the vehicle 100 has deviated from lane 200. The duration of the lane departure is the time that has elapsed while the vehicle 100 has deviated from lane 200. If the determination in step S230 is positive, the process proceeds to step S240; otherwise, the process proceeds to step S260.

[0068] In step S240, the CPU 20 determines whether a certain amount of time has elapsed while the vehicle is deviating from its lane. The CPU 20 makes the determination in step S240 based, for example, on the duration of the lane departure. If the determination in step S240 is positive, it proceeds to step S250; otherwise, the flowchart ends.

[0069] In step S250, the CPU 20 outputs a lane-crossing warning. The lane-crossing warning is one of the first warnings. The CPU 20 generates the first warning to be output from the display unit 31. The CPU 20 outputs the generated lane-crossing warning from the display unit 31. Furthermore, the CPU 20 records the lane-crossing warning event to the memory card. The CPU 20 may also transmit the lane-crossing warning event to the wireless base station 5. When step S250 is executed, the flowchart ends.

[0070] In step S260, the CPU 20 determines whether the vehicle 100 is driving erratically. Driving erratically in step S260 refers to the behavior of the vehicle 100 as it approaches a lane marking. The determination of whether the vehicle is driving erratically is made, for example, based on the number of times the vehicle is driving erratically within a predetermined time. For example, if the vehicle is driving erratically if it is detected again within 30 seconds of the first instance of erratically being detected, the number of erratically being detected is accumulated. If the accumulated number of erratically being detected reaches three or more, it may be determined that the vehicle is driving erratically. The determination of whether the vehicle is driving erratically is made, for example, according to the determination value read in step S10.

[0071] Note that the swaying driving in step S260 may include swaying driving that deviates from lane 200, or it may not include swaying driving that deviates from lane 200. If the judgment in step S260 is affirmative that swaying driving occurred, the process proceeds to step S270; otherwise, the flowchart ends.

[0072] In step S270, the CPU 20 outputs a warning of instability. The warning of instability is one of the first warnings. The CPU 20 generates a first warning to be output from the display unit 31. The first voice warning is, for example, a message such as, "The vehicle is instability. It is dangerous." The first voice warning may also be a message indicating that the instability will result in a deduction in the driver's performance evaluation. The CPU 20 outputs the generated warning of instability from the display unit 31. Furthermore, the CPU 20 records the warning event to the memory card. The CPU 20 may also transmit the warning event of instability to the wireless base station 5. When step S270 is executed, the flowchart ends.

[0073] In step S280, the CPU 20 determines whether the driving caution setting is ON. The determination in step S280 is made, for example, based on the setting value read in step S10. The in-vehicle device 2 of this embodiment can switch the warning function for when the vehicle 100 is not deviating from the lane 200 ON / OFF. If the determination in step S280 is positive, the system proceeds to step S290; otherwise, it proceeds to step S260.

[0074] In step S290, the CPU 20 prompts the driver to exercise caution while driving. This warning informs the driver that they are approaching a lane marking. The CPU 20 generates a warning to be output from the display unit 31. The method of alerting the driver may be voice, a sound such as a buzzer, a light such as a lamp, an image displayed on the display unit 31, or a combination of these. The CPU 20 outputs the driving warning from the display unit 31. The CPU 20 may also record a warning event if it has warned the driver about approaching a lane marking. Once step S290 is executed, the process proceeds to step S260.

[0075] The flowchart FL3 in Figure 15 relates to a warning based on a second type of line 50. In step S310, the CPU 20 calculates the relative distance. The CPU 20 calculates the relative distance between the detected second type of line 50 and the vehicle 100. Once step S310 is performed, the process proceeds to step S320.

[0076] In step S320, the CPU 20 determines whether the vehicle 100 is in close proximity to the second type of line 50. The CPU 20 makes the determination in step S320 based, for example, on the upper limit value Nt of the proximity determination read in step S10. However, a different determination value may be used for the proximity determination to the second type of line 50 than for the proximity determination to the first type of line 40. For example, in the proximity determination to the second type of line 50, a positive determination may be made if the degree of proximity is higher. If the determination in step S320 is positive, the process proceeds to step S330; otherwise, the flowchart ends.

[0077] In step S330, the CPU 20 determines whether the turn signal is ON. If it is determined that the turn signal is ON, the flowchart ends; otherwise, the process proceeds to step S340.

[0078] In step S340, the CPU 20 determines whether the setting for the second warning is ON. The determination in step S340 is made based on the setting value read in step S10. If the determination in step S340 is positive, indicating that the function related to the second warning is ON, the process proceeds to step S350; otherwise, the flowchart ends.

[0079] In step S350, the CPU 20 alerts the crew. The driving caution in step S350 is one of the second warnings. The CPU 20 generates a second warning for driving caution and outputs the second warning from the display unit 31.

[0080] If the CPU 20 issues a second warning, it may record the alert event to the memory card. Unlike warning events, alert events are not reflected in the driver's driving evaluation. Alert events are used, for example, to provide feedback to the driver for safe driving. When step S350 is executed, the flowchart ends.

[0081] Flowchart FL4 in Figure 16 relates to a warning based on the second type of line 50. In step S410, the CPU 20 determines whether the deviation from the inner area 200c is continuing. The inner area 200c is a portion of the lane 200, as shown in Figure 2, and is determined based on the second type of line 50. More specifically, the inner area 200c is the area inside the width direction of the lane 200, which includes the second type of line 50.

[0082] The CPU 20 determines that the vehicle 100 has deviated from the inner area 200c if it extends beyond the inner area 200c. The CPU 20 makes a determination in step S410 based on a flag indicating the deviation from the inner area 200c and the duration of this deviation. If the determination in step S410 is positive, indicating that the deviation from the inner area 200c is continuing, the process proceeds to step S420; otherwise, the process proceeds to step S440.

[0083] In step S420, the CPU 20 determines whether a certain amount of time has elapsed while the device has deviated from the inner region 200c. If the determination in step S420 is positive, the process proceeds to step S430; otherwise, the flowchart ends.

[0084] In step S430, the CPU 20 prompts the crew to take precautions while driving. The CPU 20 generates a warning about driving over a line. This driving over a line is driving while crossing over the second type of line 50. The warning about driving over a line is one of the second warnings. The CPU 20 outputs the warning about driving over a line from the display unit 31. Furthermore, the CPU 20 records the warning event to the memory card. The CPU 20 may also transmit the warning event about driving over a line to the wireless base station 5. When step S430 is executed, the flowchart ends.

[0085] In step S440, the CPU 20 determines whether the vehicle 100 has been driving erratically. This erratic driving may be, for example, driving erratically within the inner area 200c, or driving erratically that includes a departure from the inner area 200c. However, it is assumed that in either case of erratic driving, a departure from the lane 200 does not occur.

[0086] The swaying detection is performed, for example, based on the number of swaying events within a predetermined time. Swaying is the behavior of vehicle 100 approaching a second type of line 50. Swaying is detected when the cumulative number of swaying events exceeds a predetermined number. The swaying detection is performed, for example, according to the detection value read in step S10. The detection value for swaying with respect to the second type of line 50 may differ from the detection value for swaying with respect to the first type of line 40. For example, the threshold for the cumulative number of swaying events for the second type of line 50 may be a larger value than the threshold for the cumulative number of swaying events for the first type of line 40. If the result of the detection in step S440 is positive, the process proceeds to step S450; otherwise, the flowchart ends.

[0087] In step S450, the CPU 20 issues a warning about instability. This warning about instability is one of the second warnings. The second voice warning is, for example, a message such as, "The vehicle is swaying slightly. Please be careful." In other words, the second warning about instability is less of a warning to the crew compared to the first warning about instability. The CPU 20 outputs a warning about instability from the display unit 31. Furthermore, the CPU 20 records the warning event to the memory card. The CPU 20 may also transmit the warning event about instability to the wireless base station 5. When step S450 is executed, the flowchart ends.

[0088] Flowchart FL5 in Figure 17 relates to the processing when multiple lines are detected on one side of lane 200. In step S510, the CPU 20 determines whether the vehicle 100 is inside the multiple lines. For example, as shown in Figure 2, if two lines are detected on each side of lane 200, the CPU 20 determines whether the vehicle 100 is located inside lane 200 beyond the inner line. If the determination in step S510 is positive, the process proceeds to step S520; otherwise, the process proceeds to step S610 in flowchart FL6 (Figure 18).

[0089] In step S520, the CPU 20 determines the color of the innermost line. If the result of the determination in step S520 is that the inner line is white or yellow, the process proceeds to step S530. If the inner line is the set color, the process proceeds to flowchart FL4. If the inner line is any other color, the flowchart ends.

[0090] In step S530, the CPU 20 determines whether the thickness of the inner line is less than the threshold Wt. If the determination in step S530 is positive, the process proceeds to step S540; otherwise, the flowchart ends.

[0091] In step S540, the CPU 20 calculates the relative distance. The CPU 20 calculates the relative distance between the detected inner line and the vehicle 100. Once step S540 is completed, the process proceeds to step S550.

[0092] In step S550, the CPU 20 determines whether the vehicle 100 is close to the inner line. If the determination is positive, the process proceeds to step S560; otherwise, the flowchart ends.

[0093] In step S560, the CPU 20 determines the shape of the inner line. If the inner line is a white dashed line 42, proceed to step S570. If the inner line is a yellow solid line 43, proceed to step S580. If the inner line is a white solid line 41, proceed to flowchart FL2.

[0094] In step S570, the CPU 20 determines whether the turn signal is ON. If it is determined that the turn signal is ON, the flowchart ends; otherwise, the process proceeds to flowchart FL2.

[0095] In step S580, the CPU 20 determines whether the turn signal is ON. If it is determined that the turn signal is ON, the process proceeds to step S590; otherwise, it proceeds to flowchart FL2.

[0096] In step S590, the CPU 20 determines whether it is an overtaking maneuver. If the determination in step S590 is positive, the process proceeds to step S600; otherwise, the process proceeds to step S210 of flowchart FL2.

[0097] In step S600, the CPU 20 outputs a no-passing warning. The no-passing warning is one of the first warnings. The CPU 20 outputs the generated no-passing warning from the display unit 31. The CPU 20 further records the warning event to the memory card. The CPU 20 may also transmit the no-passing warning event to the wireless base station 5. When step S600 is executed, the process proceeds to step S210 of flowchart FL2.

[0098] Flowchart FL6 in Figure 18 relates to the processing when vehicle 100 deviates from lane 200 or is close to the edge of lane 200. In step S610, CPU 20 determines whether vehicle 100 is outside of the detected lines. CPU 20 determines whether vehicle 100 is outside of the outermost of the detected lines. If this determination is confirmed to be true that vehicle 100 is outside of the lines, the process proceeds to step S620; otherwise, the process proceeds to flowchart FL2.

[0099] In step S620, the CPU 20 determines whether a white or yellow line has been detected. The CPU 20 determines whether any of the detected lines include a white line or a yellow line. If the determination in step S620 is positive, the process proceeds to step S630; otherwise, the process proceeds to flowchart FL3. In this case, flowcharts FL3 and FL4 determine proximity, crossing, and wobbling based on the inner line.

[0100] In step S630, the CPU 20 determines whether the thickness of the detected white or yellow line is less than the threshold Wt. In step S630, it is determined whether the detected white or yellow line is a boundary line. If the determination in step S630 is positive, it proceeds to step S640; otherwise, the flowchart ends.

[0101] In step S640, the CPU 20 calculates the relative distance. The CPU 20 calculates the relative distance between the detected white or yellow line and the vehicle 100. This relative distance is the width of the lane 200. Once step S640 is completed, the process proceeds to step S650.

[0102] In step S650, the CPU 20 determines whether the vehicle 100 is close to a white or yellow line. If the determination in step S650 is positive, the process proceeds to flowchart FL2; otherwise, the flowchart ends.

[0103] As described above, the in-vehicle unit 2 of this embodiment includes an external input interface 25, a discrimination function 20A, a generation function 20B, and a display unit 31. The external input interface 25 is an acquisition unit that acquires images of the area in front of the vehicle 100 from a camera 33 mounted on the vehicle 100. The discrimination function 20A is a discrimination unit that detects lines along the direction of travel of the vehicle 100 from the image and determines the type of line based on the color of the detected line. The generation function 20B generates a warning regarding safe driving for the occupant of the vehicle 100 based on the relative position of the line with respect to the vehicle 100. The display unit 31 is an example of a warning unit that outputs a warning.

[0104] The discrimination function 20A determines whether the detected line is a first type line 40 having a color indicating a lane marking, or a second type line 50 having a color different from the color indicating a lane marking. The generation function 20B generates a first warning based on the relative position of the first type line 40 with respect to the vehicle 100. The generation function 20B also generates a second warning, which is different from the first warning, based on the relative position of the second type line 50 with respect to the vehicle 100. The in-vehicle device 2 of this embodiment can output a first warning based on the first type line 40 and a second warning based on the second type line 50, and the second warning is different from the first warning. Therefore, the in-vehicle device 2 of this embodiment can alert the driver to safe driving based on the second type line 50, which is different from the lane marking.

[0105] In this embodiment, the generation function 20B generates a first warning about crossing tracks when the vehicle 100 crosses over a first type of track 40. The generation function 20B also generates a second warning about crossing tracks when the vehicle 100 crosses over a second type of track 50. The second warning about crossing tracks is less of a warning to the crew compared to the first warning about crossing tracks.

[0106] In this embodiment, the generation function 20B generates a first warning about erratic driving when the vehicle 100 is driving erratically close to the first type of line 40. The generation function 20B also generates a second warning about erratic driving when the vehicle 100 is driving erratically inside lane 200 beyond the second type of line 50. The second warning about erratic driving is less of a warning to the driver compared to the first warning about erratic driving.

[0107] In this embodiment, when a first type of line 40 and a second type of line 50 located inside the lane 200 relative to the first type of line 40 are detected, the generation function 20B generates a second warning based on the inside second type of line 50 and a first warning based on the outside first type of line 40. Therefore, the in-vehicle device 2 of this embodiment can provide appropriate warnings and alerts to the occupant through the first and second warnings based on the behavior of the vehicle 100.

[0108] The second warning based on the second type of line 50 is not limited to the types exemplified. The CPU 20 can generate various warnings based on the relative position between the second type of line 50 and the vehicle 100. For example, the discrimination function 20A may further classify the second type of line 50. For example, the discrimination function 20A may be configured to distinguish guide lines among the second type of lines 50. Guide lines are second type of lines 50 that guide the vehicle to keep driving in the same lane. The generation function 20B may generate a second warning that alerts the vehicle to continue driving in its current lane when the vehicle 100 approaches a guide line.

[0109] The contents disclosed in the above embodiments can be combined and implemented as appropriate. [Explanation of Symbols]

[0110] 1. Operation Evaluation System 2: On-board device, 2A: On-board device main body 5: Wireless base station, 6: Server, 7: Office PC 20: CPU, 20A: Discrimination function, 20B: Generation function, 20C: Transmission function 21: Speed ​​interface, 22: Engine interface 23: GPS receiver, 24: Analog interface 25: External input interface, 26: Wide-area communication unit, 27: Non-volatile memory 28: Volatile memory, 29: Card interface, 30: Switch 31: Display unit, 32: Handheld keypad, 33: Camera, 34: Antenna 40: First type of line, 41: Solid white line, 42: Dashed white line, 43: Solid yellow line 50: Second type of line 60: CPU, 61: Communications unit, 62: Non-volatile memory, 63: Volatile memory 64: External Input Interface 70: CPU, 71: Communications unit, 72: Non-volatile memory, 73: Volatile memory 74: External Input Interface 100: Vehicle, 110: Other vehicle, 120: Obstacle 200: Lane, 200c: Inner area

Claims

1. An acquisition unit that acquires an image of the area in front of the vehicle from a camera mounted on the vehicle, A discrimination unit that detects a line along the direction of travel of the vehicle from the image and determines the type of the line based on the color of the line, A generation unit that generates a warning regarding safe driving to the crew of the vehicle based on the relative position of the line with respect to the vehicle, The alarm unit outputs the aforementioned warning, Equipped with, The discrimination unit determines whether the line is a first type of line having a color that indicates a lane marking, or a second type of line having a color different from the color that indicates a lane marking. The generation unit generates a first warning based on the relative position of the first type of line with respect to the vehicle. The generation unit generates a second warning, which is different from the first warning, based on the relative position of the second type of line with respect to the vehicle. When the first type of line and the second type of line, which is positioned inside the lane from the first type of line, are detected, The generation unit generates the second warning based on the inner second type of line and the first warning based on the outer first type of line. An in-vehicle device characterized by the following features.

2. The generation unit generates the first warning regarding crossing a line when the vehicle crosses the first type of line. The generation unit generates the second warning regarding crossing the line when the vehicle crosses the second type of line. The second warning regarding straddling the vehicle is less of a warning to the crew compared to the first warning regarding straddling the vehicle. The in-vehicle device according to claim 1.

3. The generation unit generates the first warning regarding the wobbling when the vehicle is driving erratically and approaching the first type of line. The generation unit generates the second warning regarding the swerving when the vehicle is driving erratically inside the lane of the second type of line. The second warning regarding the aforementioned erratic driving is less of a warning to the crew compared to the first warning regarding the aforementioned erratic driving. The in-vehicle device according to claim 1.

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