Vehicle driving assistance systems

Abstract

To provide a vehicle driving support device that is advantageous for a driver to appropriately recognize the degree of lane keeping control and the necessity of steering wheel operation.SOLUTION: A vehicle driving support device is configured to: calculate a lane keeping control amount indicating a degree of controlling a steering system 24 in a range from 0% to 100% on the basis of lane line recognition information, vehicle information, and a driver steering amount; and control the steering system 24 on the basis of the calculated lane keeping control amount, and also present, on a display unit, a first warning display indicating that the lane keeping control amount is in a decreasing trend when the driver steering amount is equal to or more than a first predetermined value and the lane keeping control amount is equal to or less than a second predetermined value.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a driving support device for a vehicle.

Background Art

[0002] There is known a driving support device for a vehicle that performs lane keeping control (Lane keep assist: LKA) to drive the vehicle along the center of the driving lane by imaging the lane marking of the lane on which the vehicle is traveling with a camera mounted on the vehicle and controlling the steering mechanism based on the lane marking recognition information, vehicle information such as vehicle speed, and the driver's steering amount input from the driver to the steering wheel. (See Patent Document 1). In such a driving support device for a vehicle, when the vehicle is traveling on a straight road, the operation of the steering wheel by the driver is almost unnecessary, and the degree of lane keeping control becomes high. On the other hand, when the vehicle is traveling on a road with a large curve curvature such as a highway junction, the accuracy of the lane marking recognition information greatly decreases due to the limitation of the camera performance. Therefore, it is necessary to actively operate the steering wheel by the driver, and the degree of lane keeping control will decrease.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, as described above, the degree of lane keeping control by the driving support device for a vehicle greatly changes between the case of traveling on a straight road or a curve with a small curvature and the case of traveling on a road with a large curve curvature. In other words, it is not easy for the driver to accurately recognize that the necessity of operating the steering wheel by the driver greatly changes. Therefore, for example, if a driver unconsciously applies force to the steering wheel when the vehicle is traveling on a straight road or a curve with a small curvature and no steering wheel operation is required, the vehicle's driver assistance system may assume that the driver has actively operated the steering wheel and reduce the degree of lane keeping control. This raises concerns that the vehicle may tend to drift to one side of the lane in the width direction or that the vehicle may sway. On the other hand, when a vehicle is traveling on a curve with a large curvature, if the driver does not actively operate the steering wheel expecting the lane keeping control to function properly, the accuracy of the lane marking recognition information will decrease significantly due to the limitations of the camera's performance, as mentioned above. This could lead to a decrease in the accuracy of the lane keeping control, potentially causing the vehicle to drift to one side of the lane in the width direction or to sway.

[0005] As mentioned earlier, lane keeping control is not fully automated driving control and requires driver intervention as needed. However, drivers are not always aware of this and often expect lane keeping control to be automated driving control or something close to it, requiring little to no driver intervention. Therefore, when the aforementioned malfunction occurs, it leads to a discrepancy (disappointment) between the lane keeping control that the driver expects and the lane keeping control that is actually performed, causing the driver to feel uneasy. In other words, this feeling of discomfort can be resolved if the driver can properly recognize the degree to which lane keeping control is being performed by the vehicle's driver assistance system, and the degree to which the driver needs to operate the steering wheel. This invention has been made in view of these circumstances, and its purpose is to provide a vehicle driving assistance device that is advantageous in enabling the driver to appropriately recognize the degree of lane keeping control and the need for steering wheel operation. [Means for solving the problem]

[0006] To achieve the above objective, one embodiment of the present invention is a vehicle driving assistance device that performs lane keeping control to drive a vehicle along a driving lane by controlling the steering system, comprising: a lane keeping control unit that calculates a lane keeping control amount indicating the degree to which the steering system should be controlled based on lane marking recognition information indicating the recognition result of lane markings of the lane the vehicle is traveling in, vehicle information indicating the status of the vehicle, and driver steering input from the driver to the steering wheel, and controls the steering system based on the calculated lane keeping control amount; a display unit provided in front of the driver; and when the driver steering amount is greater than or equal to a first predetermined value and the lane keeping control amount is less than or equal to a second predetermined value, the display unit displays that the lane keeping control amount has decreased. doing It is characterized by comprising a warning control unit that displays a first warning indication. [Effects of the Invention]

[0007] According to one embodiment of the present invention, when the driver unconsciously operates the steering wheel, the amount of lane keeping control decreases. doing This allows the driver to accurately recognize the system's functions, which is advantageous for the driver to properly understand the degree of lane keeping control and the need for steering wheel operation. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of a vehicle driver assistance device according to an embodiment. [Figure 2] This is an explanatory diagram showing examples of the display of the first warning indicator. (A) shows the state where the first warning indicator is not displayed, (B) shows the state where the display mode of one partition area is in the second state, (C) shows the state where the display mode of two partition areas is in the second state, and (D) shows the state where the display mode of three partition areas is in the second state. [Figure 3]This is an explanatory diagram showing examples of the second warning display. (A) shows the state without the first and second warning displays, (B) shows the state with the second warning display and the display form in the third state, and (C) shows the state with the second warning display and the display form in the third state, and the third state is further emphasized. [Figure 4] This is an explanatory diagram showing an example of a meter display. [Figure 5] This is a diagram illustrating vehicles and the lanes (roads) in which they travel. [Figure 6] This is an operation flowchart for a vehicle driver assistance system. [Modes for carrying out the invention]

[0009] Next, embodiments of the present invention will be described with reference to the drawings. The vehicle driving assistance device of this embodiment performs lane keeping control to keep the vehicle moving along the driving lane by controlling the steering mechanism. In this specification, lane keeping control corresponds to Level 2 (driver assistance) and Level 3 (partial driving automation) of the six levels of automated driving defined from Level 0 to Level 5, and the driving entity is a human (driver). In other words, lane keeping control is primarily used on highways and aims to assist the driver and reduce driver fatigue.

[0010] As shown in Figure 1, the vehicle driver assistance system 10 is composed of a camera 12, a navigation device 14, a vehicle speed sensor 16, an acceleration sensor 18, a control device (control ECU) 20, a steering actuator 22, a steering system 24, a steering amount detection unit 26, a head-up display 28, a meter display 30, and the like.

[0011] As shown in Figure 4, the camera 12 is mounted on the vehicle 32 and captures images of the area in front of the vehicle 32, generating image information including lane markings (white lines) 36 that extend along the lane 34 on both sides in the width direction of the lane (road) 34, and supplying this information to the control device 20.

[0012] As shown in FIG. 1, although not shown in detail, the navigation device 14 includes a positioning device that receives positioning signals from positioning satellites such as a GPS system to identify the position information of the vehicle 32, and a map database that associates map information including road information with the position information. The navigation device 14 supplies the control device 20 with position information of the vehicle 32 on the road information, such as the position on the road where the vehicle 32 is traveling based on the position information of the vehicle 32 and the road information read from the map database, and shape information including information such as whether the road on which the vehicle 32 is traveling and the road planned to be traveled in the future are straight or curved, and the magnitude of the curvature of the curve.

[0013] The vehicle speed sensor 16 detects the traveling speed of the vehicle 32 and supplies vehicle speed information to the control device 20. As the vehicle speed sensor 16, a conventionally known sensor such as a wheel speed sensor can be used. The acceleration sensor 18 detects the acceleration applied to the vehicle 32 and supplies acceleration information representing the attitude change during the traveling of the vehicle 32 to the control device 20.

[0014] Although not shown in detail, the steering system 24 includes a steering wheel, a steering shaft connected to the steering wheel, and a steering mechanism that steers the steering wheels based on the rotation of the steering shaft. The steering actuator 22 is an actuator that applies a steering torque to the steering shaft and rotates it, and is composed of, for example, a so-called power steering motor.

[0015] The steering amount detection unit 26 detects the driver's steering amount of the steering shaft generated by the rotation operation of the driver's steering wheel and supplies it to the control device 20 as driver's steering amount information. In this embodiment, the driver's steering amount information is assumed to include the steering torque and the steering angle. Further, the driver's steering amount detected by the steering amount detection unit 26 is detected independently of the steering torque applied from the steering actuator 22 to the steering shaft and the steering angle by the steering actuator 22.

[0016] The head-up display 28 constitutes a display unit provided at a position in front of the driver. The head-up display 28 is provided above the instrument panel 18 in front of the driver's seat, and as shown in FIGS. 2(A)-(D), displays an image on the front windshield 40. This image is displayed, for example, as a virtual image located about 2 m to 2.5 m in front of the driver. In the present embodiment, as shown in FIGS. 2(A)-(D), the head-up display 28 is configured to be able to display a plurality of divided section regions 38 divided in the extending direction of the lane 34 on which the vehicle 32 travels, and displays a first warning display and a second warning display, which will be described later. Therefore, the driver will visually recognize a state in which the plurality of divided section regions 38 displayed on the front windshield 40 are superimposed on the lane 34 and the lane lines 36 visually recognized through the front windshield 40.

[0017] As shown in FIG. 4, the meter display 30 constitutes a display unit provided at a position in front of the driver. The meter display 30 performs the same display as the display of the head-up display 28. That is, the meter display 30 is configured to be able to display the lane lines 36 on both sides of the lane 34, the vehicle 32, and a plurality of divided section regions 38 divided in the extending direction of the lane 34 on which the vehicle 32 travels. Since the display of the head-up display 28 and the display of the meter display 30 are the same, the display of the head-up display 28 will be described below, and the description of the display of the meter display 30 will be omitted. Furthermore, this embodiment describes a case where the head-up display 28 and the meter display 30 are provided together, but it is optional to provide only one of them.

[0018] As shown in Figure 1, the control device 20 (control ECU) is composed of a storage unit such as a ROM for storing and remembering control programs, a RAM as an operating area for control programs, an EEPROM for rewritable storage of various data, and an interface unit for interface with peripheral circuits, etc. The control device 20 functions as a lane marking recognition unit 20A, a lane keeping control unit 20B, and a warning control unit 20C by executing a control program.

[0019] The lane marking recognition unit 20A generates lane marking recognition information indicating the recognition result of the lane markings 36 of the lane 34 in which the vehicle 32 is traveling, based on the image information supplied from the camera 12, and supplies it to the lane keeping control unit 20B. Furthermore, the lane marking recognition unit 20A generates a recognition degree (in other words, the accuracy of the lane marking recognition information) of the lane markings 36 of the lane 34 and supplies it to the warning control unit 20C. This level of recognition depends on the state of the lane markings 36 or the state of the image information captured by the camera 12. For example, if the lane markings 36 are worn or soiled and become unclear, the recognition accuracy of the lane markings 36 will decrease. Furthermore, when the vehicle is traveling on a straight road or a curve with a small curvature, the image information obtained by the camera 12 broadly covers the lane markings 36, and sufficient image information is obtained to recognize the lane markings 36 well, resulting in a high degree of recognition of the lane markings 36. On the other hand, when a vehicle is traveling on a curve with a large curvature, for example, due to the limitations of the camera 12's performance, it becomes difficult for the image information obtained by the camera 12 to widely cover the lane markings 36. As a result, it becomes difficult to obtain sufficient image information to properly recognize the lane markings 36, and therefore the recognition rate of the lane markings 36 is low.

[0020] The lane keeping control unit 20B calculates a lane keeping control amount, which indicates the degree to which the steering system 24 is controlled, based on lane marking recognition information supplied from the lane marking recognition unit 20A, vehicle speed information supplied from the vehicle speed sensor 16, acceleration information supplied from the acceleration sensor 18, vehicle 32 position information (location information of the vehicle 32 on the road) and road shape information supplied from the navigation device 14, and driver steering amount supplied from the steering amount detection unit 26. In this embodiment, the lane keeping control amount is calculated in the range of 0% to 100%, but the numerical value used to represent the lane keeping control amount, its range, and the units of the value are arbitrary and not limited to this embodiment. The vehicle speed information, acceleration information, vehicle 32 position information (vehicle 32 position information on the road), and road shape information mentioned above constitute vehicle information that indicates the status of vehicle 32. Furthermore, the lane keeping control unit 20B controls the steering system 24 by driving the steering actuator 22 based on the calculated lane keeping control amount, thereby performing lane keeping control to drive the vehicle 32 along the center of the lane 34.

[0021] Here, the higher the amount of lane keeping control, the greater the degree of control of the steering system 24 by the lane keeping control unit 20B, which means that the need for the driver to operate the steering wheel decreases. Therefore, when the lane keeping control is at 100%, the driver does not need to operate the steering wheel. The closer the lane keeping control is to 100%, the less the driver needs to actively operate the steering wheel; for example, a light touch on the steering wheel may suffice. Furthermore, when the lane-keeping control level is around 50%, the driver needs to perform moderate steering wheel operations. Furthermore, the lower the amount of lane keeping control, the less control the steering system 24 is exerted by the lane keeping control unit 20B. In other words, the need for the driver to operate the steering wheel increases. Therefore, the closer the lane keeping control amount is to 0%, the greater the need for the driver to actively operate the steering wheel. When the lane keeping control amount is 0%, the steering system 24 is not controlled by the lane keeping control unit 20B, so the driver must operate the steering wheel.

[0022] In other words, the lane keeping control unit 20B controls the steering system 24 so that the vehicle 32 travels along the center of the lane 34 based on lane marking recognition information, and in doing so, calculates the lane keeping control amount based on vehicle information and driver steering amount information. Below, we will explain an example of how to calculate the lane keeping control amount, dividing the vehicle speed, the curvature of the road (curve), and the state of the driver's steering wheel operation into four categories: 1) to 4).

[0023] 1) The faster the vehicle speed information, and as shown in Figure 5, the greater the curvature of the curve C being driven on or the curve C that is expected to be entered, the more difficult it becomes to drive the vehicle 32 precisely along the center of the lane 34, thus increasing the need for the driver to operate the steering wheel. Therefore, in this case, the lane keeping control unit 20B calculates a lower amount for lane keeping control.

[0024] 2) The lower the vehicle speed information, and as shown in Figure 5, the smaller the curvature of the curve C being driven on or the curve C that is expected to be entered, the easier it becomes to drive the vehicle 32 precisely along the center of the lane 34, thus reducing the need for the driver to operate the steering wheel. Therefore, in this case, the lane keeping control unit 20B calculates a high amount for lane keeping control.

[0025] 3) Furthermore, the harder or larger the driver turns the steering wheel, the greater the amount of steering input (the greater the steering torque, or the greater the steering angle). In this case, the lane keeping control unit 20B estimates that the driver's intention to operate the steering wheel is stronger and calculates a lower amount of lane keeping control.

[0026] 4) Also, the less the driver turns the steering wheel, the smaller the amount of steering input (the smaller the steering torque, or the smaller the steering angle). In this case, the lane keeping control unit 20B estimates that the driver's intention to operate the steering wheel is lower and calculates a higher amount of lane keeping control. Therefore, considering points 3) and 4), it can be said that there is a trade-off relationship between the driver's steering input and the lane-keeping control input.

[0027] Note that in points 1) through 4) above, the explanation was simplified by excluding acceleration information from the vehicle information. However, in reality, the lane keeping control amount is calculated taking into account the changes in the vehicle's attitude indicated by the acceleration information. Furthermore, when performing lane keeping control, it is optional to use information other than the aforementioned vehicle speed information, acceleration information, vehicle 32 position information, and road shape information as vehicle information. Furthermore, various conventionally known methods can be used to calculate such lane-keeping control amounts, and this embodiment is not limited to those methods.

[0028] The warning control unit 20C determines whether it is necessary to display the first warning and second warnings described below on the head-up display 28 (meter display 30) which serves as the display unit, and if it determines that it is necessary, it displays the first warning and second warnings. To explain the first warning display, the warning control unit 20C determines whether it is necessary to display the first warning based on the driver's steering input and the lane keeping control amount. If it determines that it is necessary, the head-up display 28 indicates that the lane keeping control amount is reduced. doing A first warning indicator is displayed to show that. In other words, when the driver's steering input is greater than or equal to a first predetermined value and the lane keeping control amount is less than or equal to a second predetermined value, the warning control unit 20C will indicate via the head-up display 28 that the lane keeping control amount is reduced. doing A first warning indicator is displayed to show that.

[0029] Figure 2 is an explanatory diagram illustrating an example of the first warning display. Figure 2(A) shows the state where the first warning indicator is not displayed, which corresponds to a state where the lane keeping control amount is 100%. In other words, as shown in Figure 2(A), the situation in front of the vehicle 32 is visible to the driver through the front windshield glass 40, and therefore the lane markings 36 on both sides of the lane 34 are also visible through the front windshield glass 40. Furthermore, in the area displayed on the front windshield glass 40 by the head-up display 28, three partitioned areas 38 are set up in front of the vehicle 32, arranged in the order of partitioned area 38A, partitioned area 38B, and partitioned area 38C, starting from the point furthest from the vehicle 32 and moving closer to the vehicle 32. In this embodiment, the three partitioned regions 38 are separated by outlines surrounding each region 38, and the area inside each outline is displayed in green, resulting in the display state of the three partitioned regions 38 being the first state. In this case, the outlines may be omitted. Furthermore, in Figures 2 and 3 described below, the types of colors displayed in each partitioned area 38 are represented by the types of hatching. Furthermore, the colors of each section area 38 displayed on the front windshield glass 40 by the head-up display 28 are set to have a brightness and transparency that does not obstruct the view of the situation in front of the vehicle 32.

[0030] Figures 2(B), (C), and (D) show the state when the first warning is displayed, and the display changes as the lane keeping control amount decreases from 100% to the state shown in Figures 2(B), (C), and (D). Figure 2(B) shows that of the three partition areas 38, the partition area 38A located furthest from the vehicle 32 is in a second state (blue), which is different from the first state (green), and corresponds to a state where the lane keeping control amount is 70%. Furthermore, the remaining partition areas 38B and 38C are displayed in the first state (green). In other words, in Figure 2(B), the first warning display by the warning control unit 20C is performed by changing the display mode of at least one of the multiple partitioned areas 38 (38A) from a first state (green) to a second state (blue) which is different from the first state.

[0031] Figure 2(C) shows that of the three partition areas 38, partition area 38A, which is furthest from the vehicle 32, and partition area 38B, which is located in front of partition area 38A, are in a second state (blue), which is different from the first state (green), and corresponds to a state where the lane keeping control amount is 30%. Furthermore, the closest compartment area 38C to vehicle 32 is in the first state (green). In other words, in Figure 2(C), the first warning display by the warning control unit 20C is made when the driver steering amount is greater than or equal to a third predetermined value, which is higher than a first predetermined value, and the lane keeping control amount is less than or equal to a fourth predetermined value, which is lower than a second predetermined value, by changing the display mode of both the first section area 38A and the second section area 38B, which is closer to the vehicle 32 than the first section area 38A, from the first state (green) to the second state (blue) among the multiple section areas 38.

[0032] Figure 2(D) shows that all display modes for partition areas 38A, 38B, and 38C are in a second state (blue), which is different from the first display state (green), and corresponds, for example, to a state where the lane keeping control amount is 0%. In other words, in Figure 2(D), the first warning display by the warning control unit 20C is performed when the driver's steering amount is greater than or equal to the 5th predetermined value (greater than the 3rd predetermined value), and the lane keeping control amount is less than or equal to the 6th predetermined value (less than the 4th predetermined value), by changing the display mode of all of the multiple partition areas 38 from the first state (green) to the second state (blue).

[0033] Furthermore, as shown in Figures 2(B), (C), and (D), the first warning display by the warning control unit 20C is performed by sequentially changing the display mode of the partition areas 38 from a first state (green) to a second state (blue), which is different from the first state, among the multiple partition areas 38, from partition area 38A, which is farther from the vehicle 32, to partition area 38C, which is closer to the vehicle 32, as the driver steering amount increases or the lane keeping control amount decreases.

[0034] Next, regarding the second warning display, the warning control unit 20C determines whether or not it is necessary to display the second warning display based on the degree of recognition of the lane markings 36 of the lane 34. In other words, when the recognition level of the lane markings 36 of the lane 34 decreases, the warning control unit 20C changes the display mode of the lane area 38 from the first state (green) or second state (blue) to a third state (yellow or red) which is different from the first state (green) and second state (blue), thereby indicating a decrease in recognition level. doing A second warning indicator will be displayed to show this.

[0035] Figure 3 is an explanatory diagram illustrating an example of the second warning display. In the explanation of Figure 3 shown below, it is assumed that the lane keeping control amount is maintained at a constant value (e.g., 100%) and does not change. Figure 3(A), like Figure 2(A) mentioned above, shows a state where the first and second warning indicators are not displayed, and the display mode of the three partitioned areas 38 is in the first state (green).

[0036] Figure 3(B) shows the state when the second warning indicator is displayed. The display mode of the three partitioned areas 38 is in a third state (yellow), which is different from the first state (green) and the second state (blue). In other words, in Figure 3(B), the second warning display by the warning control unit 20C is triggered when the recognition level of the lane markings 36 of the lane 34 falls below a predetermined first recognition level. This is done by changing the display mode of the lane area 38 from the first state (green) to a third state (yellow), which is different from the first state (green) and the second state (blue), thereby indicating a decrease in recognition level. doing A second warning indicator will be displayed to show this.

[0037] Figure 3(C) also shows the state when the second warning indicator is displayed. The display mode of the three partitioned areas 38 is in a third state (red), which is different from the first state (green) and the second state (blue). In other words, in Figure 3(C), the second warning display by the warning control unit 20C is triggered when the recognition level of the lane markings 36 of the lane 34 falls below a predetermined second recognition level, which is lower than the predetermined first recognition level. This is done by changing the display mode of the lane area 38 from the first state (green) to a third state (red), which is different from the first state (green) and the second state (blue), thereby indicating a decrease in recognition level. doing A second warning indicator will be displayed to show this. In other words, in both Figures 3(B) and (C), the display mode of the partition area 38 is set to a third state (yellow or red), which is different from the first state (green) and the second state (blue), as the second warning display. However, in Figure 3(C), compared to Figure 3(B), the color of the partition area 38 is changed from yellow to red as the display mode of the third state to indicate a higher level of warning for the second warning display. Therefore, by changing the display format of the third state in two stages (yellow and red) according to the level of warning, a driver who sees the second warning display can recognize the degree to which their recognition of the lane markings 36 of lane 34 has decreased in two stages, which is advantageous for more accurately understanding the recognition level of the lane markings 36.

[0038] Figure 3 illustrates the case where the lane keeping control amount is maintained at 100%, the first warning indicator is not displayed, and the second warning indicator is displayed using all three partition areas 38A, 38B, and 38C. However, the second warning may be displayed simultaneously with the first warning due to a decrease in lane keeping control. For example, a first warning display may be executed when the display mode of one partition area 38A changes from a first state (green) to a second state (blue), and a second warning display may be executed when the display modes of two partition areas 38B and 38C change from a first state (green) to a third state (yellow or red). Alternatively, the first warning display may be executed when the display modes of two partition areas 38A and 38B change from the first state (green) to the second state (blue), and the second warning display may be executed when the display mode of one partition area 38C changes from the first state (green) to the third state (yellow or red).

[0039] Furthermore, although this embodiment describes the case where the partitioned area 38 is composed of three partitioned areas 38A, 38B, and 38C, the partitioned area 38 may consist of two or more areas. Furthermore, although this embodiment describes a case where the first, second, and third states of the display configuration are represented by the color (display color) of the partitioned area 38, the first, second, and third states are not limited to color. In short, the first, second, and third states can be distinguished by the different display modes of the partitioned area 38. For example, the display mode can be changed by lighting, blinking, or turning off the partitioned area 38, or by changing the brightness of the partitioned area 38, or by combining two or more of the above-mentioned display modes.

[0040] Next, the operation of the vehicle driver assistance device 10 will be explained with reference to the flowchart in Figure 6. It is assumed that the vehicle 32 is already driving on the road with the functions of the vehicle driver assistance system 10 enabled. First, image information captured by camera 12 is acquired by lane line recognition unit 20A (step S10). As a result, the lane marking recognition unit 20A recognizes the lane markings 36, and the recognition level is generated along with the lane marking recognition information (step S12). Next, lane marking recognition information is acquired by the lane keeping control unit 20B, and the recognition level is acquired by the warning control unit 20C (step S14). Next, vehicle information is acquired by the lane keeping control unit 20B from the navigation device 14, the vehicle speed sensor 16, and the acceleration sensor 18 (step S16). Next, the driver steering amount detected by the steering amount detection unit 26 is acquired by the lane keeping control unit 20B (step S18). Next, the lane keeping control unit 20B calculates a lane keeping control amount, which indicates the degree to which the steering system 24 is controlled based on vehicle information and driver steering input, in a range from 0% to 100% (step S20). Then, the lane keeping control unit 20B acquires the lane keeping control amount and controls the steering actuator 22 based on the acquired lane keeping control amount, thereby executing lane keeping control (step S22).

[0041] Next, the warning control unit 20C determines whether or not to display the first warning based on the driver's steering input and the lane keeping control input (step S24). If step S24 is affirmative, the first warning display is executed (step S26). Furthermore, if step S24 is negative, and after step S26 has been executed, the warning control unit 20C determines whether or not to display a second warning based on the degree of recognition of the lane markings 36 (step S28). If step S28 is affirmative, the second warning display is executed (step S30). If step S28 is negative, and after step S30 is executed, the process returns to step S10 and the same process is repeated.

[0042] According to this embodiment, a lane keeping control amount indicating the degree to which the steering system 24 is controlled is calculated based on lane marking recognition information, vehicle information, and driver steering input. The steering system 24 is controlled based on the calculated lane keeping control amount. Furthermore, if the driver steering input is greater than or equal to a first predetermined value and the lane keeping control amount is less than or equal to a second predetermined value, the display unit indicates that the lane keeping control amount has decreased. doing A first warning indicator was implemented to show this. Therefore, when the driver unconsciously operates the steering wheel, the amount of lane keeping control decreases. doing This allows the driver to accurately recognize the situation. ruTherefore, the driver can notice unnecessary steering wheel operations and leave the lane keeping control to the vehicle's driver assistance system 10. Therefore, drivers do not experience any discomfort caused by a discrepancy between the lane-keeping control they expect and the lane-keeping control that is actually performed, which is advantageous for drivers to properly recognize the degree of lane-keeping control and the need for steering wheel operation.

[0043] Furthermore, in this embodiment, the first warning display by the warning control unit 20C is performed by changing the display mode of at least one of the multiple partitioned areas 38A from a first state (green) to a second state (blue) which is different from the first state (green). Therefore, it is advantageous in accurately and reliably notifying the driver of the first warning display, and is more advantageous in allowing the driver to properly recognize the degree of lane keeping control and the need for steering wheel operation.

[0044] Furthermore, in this embodiment, the first warning display by the warning control unit 20C is performed by changing the display mode of both the first section area 38A and the second section area 38B, which is closer to the vehicle 32 than the first section area 38A, from the first state (green) to the second state (blue) when the driver steering amount is greater than or equal to a third predetermined value, which is higher than the first predetermined value, and the lane keeping control amount is less than or equal to a fourth predetermined value, which is lower than the second predetermined value. Therefore, the greater the driver's steering input and the lower the lane-keeping control input, the more the first warning indicator can be emphasized to inform the driver, which is even more advantageous for the driver to properly recognize the degree of lane-keeping control and the need for steering wheel operation.

[0045] Furthermore, in this embodiment, the first warning display by the warning control unit 20C is performed by sequentially changing the display mode of the partition areas 38 from a first state (green) to a second state (blue), which is different from the first state (green), among the partition areas 38, from partition area 38A, which is farther from the vehicle 32, to partition area 38C, which is closer to the vehicle 32, as the amount of driver steering increases or the amount of lane keeping control decreases. Therefore, as the driver's steering input increases, or the lane keeping control amount decreases, the area 38 where the display changes to the second state (blue) approaches the vehicle 32. This allows the first warning display to be emphasized to inform the driver, which is even more advantageous for the driver to appropriately recognize the degree of lane keeping control and the need for steering wheel operation.

[0046] Furthermore, in this embodiment, the warning control unit 20C determines the recognition degree of the recognition result of the lane markings 36 of the lane 34. The first 1 Recognition level When the value falls below a predetermined level, the display mode of the partition area 38 is changed from the first state (green) or second state (blue) to a third state (yellow or red) which is different from the first state (green) and second state (blue), thereby reducing recognition. doing A second warning indicator was added to show this. Therefore, when the recognition level of the lane markings 36 of lane 34 decreases, displaying a second warning to the driver is advantageous in helping the driver properly recognize the need to operate the steering wheel.

[0047] In this embodiment, the cases in which the first warning display and the second warning display are shown have been described, but the following additional cautionary information may also be displayed on the display unit. For example, as shown in Figure 5, if the vehicle 32 is approaching a curve C with a large curvature at a high speed, and it is anticipated that the lane-keeping control capability of the vehicle driver assistance system 10 will be insufficient, the warning control unit 20C may optionally display warning information to encourage the driver to operate the steering wheel, in addition to the first and second warning displays, such as making a steering wheel icon prominent on the display unit. Displaying this type of warning information allows the driver to operate the steering wheel with ample time to react when entering curve C, which is advantageous for effectively providing driving assistance. [Explanation of Symbols]

[0048] 10. Driving support systems 12 cameras 14 Navigation System 16. Vehicle speed sensor 18. Accelerometer 20 Control device 20A Lane marking recognition unit 20B Lane Keeping Control Unit 20C Warning Control Unit 22 Steering actuator 24 Steering System 26 Steering Amount Detection Unit 28. Head-up display (display unit) 30 Meter display (display unit) 32 vehicles 34 lanes 36 lane markings (white lines) 38 partitioned areas 38A Partition Area (First Partition Area) 38B Sectional Area (Second Sectional Area) 38C Partition Area 40 Front windshield glass C-curve

Claims

1. A vehicle driving assistance device that performs lane keeping control to keep the vehicle moving along the driving lane by controlling the steering system, A lane keeping control unit calculates a lane keeping control amount indicating the degree to which the steering system should be controlled, based on lane marking recognition information indicating the recognition result of lane markings in the lane in which the vehicle is traveling, vehicle information indicating the status of the vehicle, and driver steering input from the driver to the steering wheel, and controls the steering system based on the calculated lane keeping control amount. A display unit is provided in front of the driver, A warning control unit that displays a first warning on the display unit indicating that the lane keeping control amount has decreased when the driver steering amount is greater than or equal to a first predetermined value and the lane keeping control amount is less than or equal to a second predetermined value, A vehicle driver assistance device characterized by comprising the following features.

2. The display unit is configured to display a plurality of partitioned areas divided in the direction of the extension of the lane, The first warning display by the warning control unit is performed by changing the display mode of at least one of the plurality of partitioned areas from a first state to a second state that is different from the first state. The vehicle driving assistance device according to claim 1.

3. The first warning display by the warning control unit is performed by changing the display mode of both the first partition area and the second partition area, which is closer to the vehicle than the first partition area, from the first state to the second state when the driver steering amount is greater than or equal to a third predetermined value, which is higher than the first predetermined value, and the lane keeping control amount is less than or equal to a fourth predetermined value, which is lower than the second predetermined value. The vehicle driving assistance device according to claim 2.

4. The first warning display by the warning control unit is performed by sequentially changing the display mode of the partition areas from a first state to a second state different from the first state, starting from the partition area furthest from the vehicle to the partition area closest to the vehicle, as the driver steering amount increases or the lane keeping control amount decreases. The vehicle driving assistance device according to claim 3.

5. When the recognition level of the lane markings in the warning control unit falls below a predetermined first recognition level, it displays a second warning indicating that the recognition level has decreased by changing the display mode of the lane area from the first or second state to a third state that is different from the first and second states. A vehicle driving assistance device according to any one of claims 2 to 4.

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